The IMU is fairly low quality and drifts significantly. The typical way of dealing with this is to apply offsets to each axis to compensate for drift, recalibrating as necessary.
The process of calibrating the gyro should be a simple as possible. Ideally this will happen through the configuration page.
- User places the robot down and leaves it still
- Click "calibrate IMU button" on the configuration page and wait for some sampling period (10s?)
- Robot collects an average for the gyro values at rest, saves the values to flash.
- On reboot the values are read from flash and applied to all gyro readings
This is a breaking change for mote-api and mote-ffi, so it will need to be rereleased.
The IMU is fairly low quality and drifts significantly. The typical way of dealing with this is to apply offsets to each axis to compensate for drift, recalibrating as necessary.
The process of calibrating the gyro should be a simple as possible. Ideally this will happen through the configuration page.
This is a breaking change for mote-api and mote-ffi, so it will need to be rereleased.