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  1. Hello @JColvin, I got it figured out thanks to your first comment thanks for the help !
  2. Hello @JColvin , Thank you for your answer. Excuse me for not fully catching up with what you said as I am a beginner user. I think what you are trying to tell me is that I have 1 g because the accelerometer is sensing the counter-force from the surface it is setting on or ? However, this is not relative to the sensor itself , because the sensor is applying the gravity force downwards to the Surface or ? Moreover, the reason why I am asking this is that I am using your PmodNav to calculate the Quaternion ( by the means of Kalman Filter). So I have to change the values of accelerometer and gyroscope to match the body coordinate System that the chip is attached to. It is a right handed system with z pointing downwards, x forward and y to the right .. so I flipped the sign of the Z value, but it is still not really working for me so well. ( are there any other changes required ? ) Thanks a lot for your help. Hesham
  3. It seems like I have a problem with understanding the values I am getting from the accelerometer and gyroscope. First of all, it is stated that the IMU is using a left-handed coordinate system where Z is directing upwards. (as mentioned here :www.st.com/web/en/resource/technical/document/datasheet/DM00103319.pdf?_ga=2.91175770.1596273909.1572880735-388278844.1572880735) page number 10 However, I get +1 in the Z direction when the board is standing still ? I thought I should get -1 as the accleration is in the negative direction ? I thought that the sensor may be flipped upside down ( so one axis will be flipped while the other stays the same) but both of them are still flipped which does not make sense ? The gyroscope are following the (right hand rule ) even for a left coordinate system ? any help would be appreciated. Thanks !