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What is the formula to compute Yaw angle from MPU9150

Happy Smile
Intellectual 635 points

Iam looking for the formula to calculate the Yaw angle in term of roll, pitch and magnetometer's data

  • 0
    TI__Guru**** 244400 points

    Hello Happy Smile,

    I will take the gyro example

    The Full Scale setting has 4 values. Let us use the example of FS=0 which is +/-250 deg/s

    The Gyro has 16 bit output in 2's complement form. This effective number of bits is 15 (+1 for sign). This gives a total scale on each axis as 32768. Thus taking the FS setting we have per bit resolution of 250/32768 deg/s = 0.00762939453125 deg/sec

    This is then in the existing program converted from deg to radians for angular measurements by multiplying by 0.0174532925 for the angular value in radian

    Regards

    Amit

  • 0 in reply to Amit Ashara
    Intellectual 735 points
    Any formula ? Thanks
  • 0 in reply to Bill Ancalagon
    Guru 27285 points

    Any formulae to do what??? Physics and math understanding require precision and requesting a non specific formula can result in bread selling instead of cheese gain.

     Original title asked from "YAW Angle", Amit answered about how to calculate angular speed from Gyro, this is not the best way  due theta angle is the integral of angular speed and is unknown by arbitrary constant of integration  is a trouble.. so

     Angle can be determined from cartesian to spheric polar coordinate system, this is mathematics and Physics theory or navigation, evaluating absolute angles of magnetic vectors from uT flux of magnetometer, evaluating Accelerometer output expressed in Gravity acceleration constant term you can also evaluate where acceleration vector angles is in term of YAW PITCH and ROLL, this way using inertial theory integrating with Coriolis term got from Gyro you can evaluate angle.

     I suggest mechanics or Navigation forum to best address theory, this is regarding just TIVA, seek invensense site and also search this forum about boosterpack based on this chip too:

    http://www.invensense.com/mems/gyro/mpu9150.html