Questions tagged [imu]

IMU is an abbreviation for Inertial Measurement Unit, a system composed of three orthogonally mounted accelerometers and three orthogonally mounted gyroscopes, which may be used as the basis for inertial navigation systems, orientation measurement systems, or platform stabilization systems.

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Could hall encoders that are attached to the DC motors affect each other or the IMUs?

I am a newbie and I want to build an autonomous mobile robot. I am planning to use 4 DC motors with hall-effect encoders. I will use 4 IMUs for localization at first. Next, I also have the plan to ...
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Reading timestamp from FIFO in LSM6DS3

I using an LSM6DS3 sensor in order to estimate motion and derive. For this purpose I am reading X,Y,Z acceleration values computing linear acceleration and using a time component to derive speed and ...
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Correct drift from IMU with magnetic sensor

Is it possible to correct the drift from the IMU by setting an external magnetic sensor as the reference point (zero) of the magnetometer in the IMU. For example, tracking the position of the wrist, ...
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Why does INVENSENSE dmp return incorrect gyro and quat values?

I am using the INVENSENSE motion driver v6.12 for the MPU9250 with an STM32F411 microcontroller. I changed some files in it so the driver can communicate with the MPU9250. When I get raw values from ...
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Transform linear acceleration from frame of reference of IMU to vehicle

I'm using a 6-axis IMU (accelerometer + gyro) and collecting lateral and longitudinal acceleration (Ax an Ay) when in my car. But this device (with IMU) is positioned at an angle when plugged into the ...
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IMU gives wrong pitch angle after 70°

I am currently using this library, in particular the Mahony filter within it, for sensor-fusion on an IMU in my diploma project. The library works great, but I have encountered a problem which only ...
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MPU6050 losing orientation

I've been playing around with an MPU6050 (GY-521 board) with a Nucleo L476RG. I think I'm reading the gyroscope correctly, but it seems like the values are only changed when the sensor is moving, and ...
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IMU connection to Arduino

I want to connect the LSM6DS3TR-C IMU chip to an Arduino via I2C, but I don't know how exactly to do it properly. What can I do wrong in this wiring diagram?
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Read MPU6050 over I2C with STM32 nucleo board

I am working with a NUCLEO-F401RE board and I want to connect the accelerometer sensor MPU6050 (on a GY-521 module). The device can be connected to the board over I2C. I connected the 3.3V of the ...
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Why do magnetometer values change when I move PCB?

I have an MPU9250 on my PCB and I use an AHRS system with a Madgwick filter to get yaw angle. But for some reason - I can't get normal Euler angles (SO question). But I guess, I understood why. When I ...
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How to get angles to which a device was rotated using info from an IMU6 sensor (gyroscope and accelerometer)?

I have a device with an IMU6 sensor. When it is laying on the table, the gyroscope and accelerometer data are constantly changing. The values between two measurements are similar, but they are never ...
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How decide which pin right for interrupts?

I would like to ask about I2C sensor's interrupt pins connection to STM32F. I use ADXL345 Ggyro sensor. I would like to connect sensor to STM32F446RE (64 LQFP). But I do not know what I need to know ...
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How does accelerometer calibration work?

Inside a MEMS accelerometer there are some miniature spring-mass structures that displace under gravity or external force (acceleration). These forces are proportional to or can be indirectly ...
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TDK ICM-20689 IMU: Signal Path Reset

There is a register (104 / 0x68) – SIGNAL PATH RESET. It doesn't explain anywhere in the datasheet what a signal path reset means and when / why it should be done. I don't see any configuration which &...
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Why does AHRS system with Madgwick filter has so big drift?

I have an MPU9250 on my PCB and I use an AHRS system with a Madgwick filter to get yaw angles. I want to get very accurate and non-drifting yaw angles, but, for unknown reasons, I can't. I calibrated ...
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Why does yaw return weird values after tilting on a different axis?

I have an MPU9250 on my board and I wanted to change the yaw calculating axis after reboot depending on how this board is placed, like this: So now i can rotate the yaw counting axis, thanks to the ...
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Why doesn't yaw calculating axis change after board reboot?

I have an MPU9250 on my board and I want to change the yaw calculating axis after reboot depending on how this board is placed, like this: And I thought it would change if I reboot the board, but it ...
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Want to use SPI sensor in RS485 modbus

I want to use multiple ICM20948 over SPI to RS485 with esp32 . is there anyway to do it and also is there have any other IMU which support rs485?
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Can I measure vibrations with an IMU that has lower frequency than the vibrating object?

I’m using Arduino 33 Sense IMU to measure vibrations and I have tweaked it up to about 400Hz. However, the object (motor) I’m measuring can have a vibration frequency of up to 10kHz. My question is; ...
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Sensor fusion in a metal heavy environment

I am trying to get heading information of a forklift. I've designed a small PCB for this purpose. This PCB has a 3 axis magnetometer and a 6 axis gyroscope-accelerometer (Z- axis looking towards the ...
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Problem with GY-521 module with chip labeled "MPU-6050A"

I recieved this module. Which not woriking with my Arduino code (MPU-6050 example form Adafruit). I test many things and find out that the problem happen with this version like 4 of them (my old ...
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Slow read from IST8308 via I2C using Python and smbus2

I have an Arm64 Linux board and an IST8308 3D magnetometer that I am reading via I2C with the following script: ...
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BNO055 No Sensor Data but Address Can Be Found

Hello I'm trying to use the BNO055 sensor in my project. It's hard for me to get the sensor as a seperate IC so I buy BNO055 modules and take the IC's from the modules by heating with hot air. In my ...
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MPU9250: VCC and GND Short but device working fine

I'm facing a vague issue with MPU9250. When I tested with Multimeter, it shows that VCC and GND are short but the device is working fine, Output perfect accelerometer and gyroscope data. My circuit is ...
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ICM-20602 communicating but returning static value for acceleration sensor

Hello I am trying to read the acceleration register from the ICM-20602 over SPI. Here is the data sheet I am able to read the who_am_i register and set the power 1 and power 2 registers to 0x01 and ...
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IMU ST LSM6DSL getting boiling hot (i2c)

So I designed this custom PCB with a ESP32 and an IMU ST LSM6DSL over i2c. Everything is running at 3.3V. However, when I initialise the IMU in the firmware and start reading it in normal mode at ...
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Reading IMU Outputs Faster

I have a circuit which has: STM32F446RET6 MCU 2 IMUs 1 Barometer Sensor 1 Micro SD Card Module 1 External Flash Chip 1 GPS Module 1 LoRa Module And when I try to use all of them in my code I can ...
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Hardware Design Question Related to IMU VDD, VDDIO and IO pins

I am working on a flight controller design using ICM-20789, an IMU from TDK. As most of the components are powered by 3V3 source, so I am thinking connect IMU_VDD to 3V3 and VDDIO to 1V8 source same ...
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Orientation calculation from gyroscope data

I am integrating gyroscope values to get orientation data, but I have a few problems with my code. When I move my IMU and make like 100 degrees, the IMU can detect the movement somewhat accurately. ...
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Angular displacement and velocity calculation on rocket

We're building an avionic system which will fly onboard on our rocket. And we have IMUs on our avionic system and we want to get angular displacement and velocity values with integrating gyroscope and ...
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Does putting magnetic sensor in a metal housing affect performance of the sensor?

I'm putting IMU sensor to read earth-magnetic field. Does metal housing affect it? It might be basic question, but I lack experience in this exact scenario. (My device needs a bit of a reliability, so ...
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Why are IMU sensors calibrated in the ways that they are?

I'm using a BNO055 IMU for a project, and I'm learning to calibrate each sensor separately. The gyroscope is calibrated by standing the device still in any position The magnetometer is calibrated ...
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How to get consistent yaw and pitch angular velocity measurements in a moving frame of reference

I am using a BNO055 sensor with a ESP32 development board to control my mouse cursor. I'm able to get data from the sensor as angular velocity, or as absolute orientation in quaternions and use that ...
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Most accurate way to obtain angular velocity from a IMU sensor

I have been using a BNO055 sensor (9° dof IMU) for a project which will use angular velocity to move the mouse cursor on a PC screen. So far, I have gotten quaternion output from the sensor and been ...
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IMU 10 DOF (D) dimension

I got the dimension of the 10 DOF IMU model D on the internet. I wonder what is the dimension from the left to the center of the hole of the header pin. Besides that, for this type of header pin, the ...
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IMU BNO055 Alternative?

For a robotic application, we bought Adafruit boards of the very popular BNO055 IMU. We can still buy plenty of these modules, but it seems the BNO055 chip itself is unavailable. It even disappeared ...
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Made a mistake of connecting pin-1 NC of MPU6500. Will it affect my pcb?

Yeah I made a mistake but the pcb is on the way and I cannot cancel it. I mistakenly connected the pin-1 NC of MPU6500 to VDD(Yeah even bigger mistake). So anyone who has worked with MPU6500 know if ...
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9-axis IMU for weighing on a boat with varying sea conditions

I am brainstorming on how to do relatively accurate weighing scale for fish on a boat under different seastate conditions. I know other companies use a second load cell together with calibration data ...
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Is my magnetometer calibrated correctly?

I am calibrating the AK8963 on the MPU9250. The first plot shows original mag readings and the last plot shows readings corrected for soft and hard bias. I am following the guidance of Kris Winer: ...
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STM32F410RB is not outputting the WHOAMI register value of slave MPU9250/6000

Note: I am beginner :) I am trying to read the WHOAMI register in the MPU9250/6000 using i2c communication on STM32410RB Nucleo board MCU. I am using ...
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Implementing IMU, help with neccessary components?

I am looking at making a schematic for the ISM330DHCX alongside a ATmega328P processor for Arduino. I have the Adafruit version of it (LSM6DSOX is same footprint). Schematic: PCB: I just wanted to ...
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Low-pass filter for IMU accelerometer data

I am using Labview to get data from an IMU and I need to filter the data since it is noisy. I am using a low-pass filter but the filtered data is less than the measured data (the acceleration was 10 ...
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I2C connection randomly dies with error 4

I am trying to interface an ESP8266 microcontroller with an ICM-20948 IMU chip. Using the reference code from Invensense, the internet and trial and error, I managed to configure the chip do do 9-axis ...
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Could madgwick be a math error in the c # example?

We gave the same input data to C# and Matlab examples. The values ​​on the quaternion outputs were different, although their inputs were the same. These examples can be downloaded from Madgwick ...
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IMU Madgwick filter pitch effect on roll and yaw

Using even Madgwick provided raw data, algorithm gives inaccuracies on roll and yaw when only pitch angle applied. This is also valid for our data which is collected with BMX055. We apply only pitch, ...
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Tilt compensation for yaw calculation from magnetometer and accelerometer

I am working on a project where I have to calculate the roll, pitch, and yaw angles using an accelerometer and a magnetometer. I calculate the pitch and roll angles using the accelerometer and I am ...
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Unexpected MISO signals from LSM6DS3

I keep getting an odd result from an LSM6DS3 (common IMU device) and I'm not sure where else to turn. I have it hooked up to an MCU (nordic nrf52840, not that it matters) and I see my clock signals, ...
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ICM-20948 with DMP can't find its own compass

I am interfacing to the Invensense ICM-20948 9-DOF IMU chip using an ESP8266, and a 1.8V level shifter & regulator, which works fine. I am trying to get quaternions from the internal DMP using ...
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Drift with Madgwick algorithm with fast movements

I am trying to correctly track orientation of a sensor with accelerometer and gyroscope using the open source Madgwick algorithm. The algorithm returns quaternions which represent the rotation between ...
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IMU fusion data rate

For an trajectory estimation project using BMX055 IMU, it looks like all 3 sensors(acc,gyro,mag) inside the IMU have different and unsync data rates. Accelerometer provides 7.81, 15.63, 31.25, 62.5, ...
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