Q:
When I use the ADIS16480, the accelerometers do not reflect the orientation with respect to gravity. They seem to respond to dynamic motion, but always settle back to a state where the x-axis and y-axis are equal to ~0g and the z-axis is equal to ~1g for their outputs, regardless of its orientation. How can I get the accelerometers to reflect the ADIS16480's orientation, with respect to gravity?
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A:
You are observing the expected accelerometer response, when using the Local Navigation Frame mode in the ADIS16480. In order to configure the ADIS16480to use the body frame, set EKF_CNFG[3] = 1. Using the Body Frame selection (instead of the Local Navigation Frame) will result in the accelerometers tracking the ADIS16480orientation, with respect to gravity. Check out this video for a demonstration of the difference between the Local Navigation and Body Frame settings, along with instructions on how to use the IMU Evaluation software (with the EVAL-ADIS) to make these changes.
The products used in this demonstration are:
For more information on the Kalman filter configuration options in the ADIS16480, check out the "Extended Kalman Filter" section of the ADIS16480 datasheet.
For more information on using the EVAL-ADIS to evaluate the ADIS16480AMLZ, check out the ADIS1648x User Guide Wiki.
I hope that helps!
Best,
NevadaMark
