Aligning the mag, accel and gyro sensor axis

[Timot05]

Using this issue to document the mag, accel and gyro sensor axis alignement.

[Timot05]

From graphing the output sensor values from experiment, we have:

-> data is for LIS3MDLTR and MPU6500

[Timot05]

MPU6500 datasheet

LIS3MDL datasheet

[MaEtUgR]

Thanks for the info. I can give this a go once I'm vack at the keyboard next week. Luckily I spent quite some time with these sensors on drone programming 😅

[Timot05]

Nice! I've updated the math here and added the extraction of control angles. Everything lives in python at the moment so we'll have to port it over to C for the RP2040 micro once we are happy with it: #17