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ADIS16375 Delta Angle and Velocity output

Question asked by paulstavrou on Apr 23, 2015
Latest reply on Apr 29, 2015 by NevadaMark
Branched to a new discussion

Hello,

 

I am having trouble getting proper output for the delta angles on the ADIS16375 IMU.

 

My IMU configuration on startup is as follows

 

X_GYRO_OFF_L : 0x0<CR><LF>

X_GYRO_OFF_H : 0x0<CR><LF>

Y_GYRO_OFF_L : 0x0<CR><LF>

Y_GYRO_OFF_H : 0x0<CR><LF>

Z_GYRO_OFF_L : 0x0<CR><LF>

Z_GYRO_OFF_H : 0x0<CR><LF>

X_ACC_OFF_L : 0x0<CR><LF>

X_ACC_OFF_H : 0x0<CR><LF>

Y_ACC_OFF_L : 0x0<CR><LF>

Y_ACC_OFF_H : 0x0<CR><LF>

Z_ACC_OFF_L : 0x0<CR><LF>

Z_ACC_OFF_H : 0x0<CR><LF>

X_GYRO_SCALE : 0x0<CR><LF>

Y_GYRO_SCALE : 0x0<CR><LF>

Z_GYRO_SCALE : 0x0<CR><LF>

X_ACC_SCALE : 0x0<CR><LF>

Y_ACC_SCALE : 0x0<CR><LF>

Z_ACC_SCALE : 0x0<CR><LF>

GEN_CONFIG : 0xc0<CR><LF>

NULL_CONFIG : 0x3f0a<CR><LF>

DEC_RATE : 0x3d<CR><LF>

 

Using these configuration , I acquire the following values from the output registers (The IMU is laying flat on the ADIS16IMU1/PCBZ)

 

GYRO X : -0.209728<CR><LF>

GYRO Y : 0.078648<CR><LF>

GYRO Z : 0.000000<CR><LF>

ACC X : -0.819200<CR><LF>

ACC Y : 7.372800<CR><LF>

ACC Z : 1001.062400<CR><LF>

DELTA X : -0.005493<CR><LF>

DELTA Y : 0.000000<CR><LF>

DELTA Z : 0.000000<CR><LF>

DELTA VEL X : -3.051800<CR><LF>

DELTA VEL Y : 0.000000<CR><LF>

DELTA VEL Z : 247.195800<CR><LF>

 

Rotating by 90 degrees with respect to the IMU's Y axis, I get the following output.

 

GYRO X : -2.424980<CR><LF>

GYRO Y : -3.775104<CR><LF>

GYRO Z : 0.550536<CR><LF>

ACC X : 984.678400<CR><LF>

ACC Y : 19.660800<CR><LF>

ACC Z : 17.203200<CR><LF>

DELTA X : -0.065916<CR><LF>

DELTA Y : -0.098874<CR><LF>

DELTA Z : 0.010986<CR><LF>

DELTA VEL X : 241.092200<CR><LF>

DELTA VEL Y : 3.051800<CR><LF>

DELTA VEL Z : 3.051800<CR><LF>

 

After approximately 54 seconds, I use Bias Null Command , to load the correction factors. So the configuration now is :

 

X_GYRO_OFF_L : 0xffffd11d<CR><LF>

X_GYRO_OFF_H : 0x0<CR><LF>

Y_GYRO_OFF_L : 0x72de<CR><LF>

Y_GYRO_OFF_H : 0xfffffffd<CR><LF>

Z_GYRO_OFF_L : 0xffffc0ca<CR><LF>

Z_GYRO_OFF_H : 0x3<CR><LF>

X_ACC_OFF_L : 0x7567<CR><LF>

X_ACC_OFF_H : 0xffffffff<CR><LF>

Y_ACC_OFF_L : 0xffff83f4<CR><LF>

Y_ACC_OFF_H : 0xfffffff7<CR><LF>

Z_ACC_OFF_L : 0xffffa525<CR><LF>

Z_ACC_OFF_H : 0xfffffb38<CR><LF>

X_GYRO_SCALE : 0x0<CR><LF>

Y_GYRO_SCALE : 0x0<CR><LF>

Z_GYRO_SCALE : 0x0<CR><LF>

X_ACC_SCALE : 0x0<CR><LF>

Y_ACC_SCALE : 0x0<CR><LF>

Z_ACC_SCALE : 0x0<CR><LF>

GEN_CONFIG : 0xc0<CR><LF>

NULL_CONFIG : 0x3f0a<CR><LF>

DEC_RATE : 0x3d<CR><LF>

 

And the values for flat and 90 degree rotation are as follows.

 

Flat

--------

GYRO X : -0.104864<CR><LF>

GYRO Y : -0.052432<CR><LF>

GYRO Z : 0.000000<CR><LF>

ACC X : 0.000000<CR><LF>

ACC Y : 0.000000<CR><LF>

ACC Z : -0.819200<CR><LF>

DELTA X : -0.005493<CR><LF>

DELTA Y : -0.005493<CR><LF>

DELTA Z : 0.000000<CR><LF>

DELTA VEL X : 0.000000<CR><LF>

DELTA VEL Y : -3.051800<CR><LF>

DELTA VEL Z : -3.051800<CR><LF>

 

90 degrees

------------------

GYRO X : 1.258368<CR><LF>

GYRO Y : 1.166612<CR><LF>

GYRO Z : 1.127288<CR><LF>

ACC X : 994.508800<CR><LF>

ACC Y : 17.203200<CR><LF>

ACC Z : -1051.033600<CR><LF>

DELTA X : 0.027465<CR><LF>

DELTA Y : 0.027465<CR><LF>

DELTA Z : 0.027465<CR><LF>

DELTA VEL X : 244.144000<CR><LF>

DELTA VEL Y : 3.051800<CR><LF>

DELTA VEL Z : -262.454800<CR><LF>

 

What am I doing wrong ?

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