remoteflying

I think I understand you. Your solution would be ok if I rotate exactly 90º on Pitch or Roll. But my issue is that I need to calibrate the sensor...

I tried to calibrate the sensor when it is tilted 90º in Pitch and I replaced the Offset values form the setup(). I visualize the same errors as I said...

I modify the code from MPU6050_raw.ino with the two different Offsets as the previous example: ``` Calibrated when is Horizontal a/g: -70 178 16144 -17 -18 -4 Calibrated when is...

Now I show you the code just to make sure that we are talking about the same. This fragment is inside the main loop: ``` //If serial reads something, then...

> Modify the mpu6050.cpp function CalibrateAccel(); to handle offsets in the orientation you're expecting to use But changing that lines will give me offsets just in +-90º or 180º orientation...

You said: > Modify the mpu6050.cpp function CalibrateAccel(); to handle offsets in the orientation you're expecting to use ``` void MPU6050::CalibrateAccel(uint8_t Loops ) { float kP = 0.3; float kI...

> I'm not 100% sure but logic would imply that the sum of all the gravity values removed would equal 16,384 1G It's more complex than the sum of gravity...

I already create that Yaw Offset before but I'm blocked trying to create that Pitch and Roll Offset that are you saying. **This is the key of the topic**. Do...

Thanks @jrowberg. In my case I need rotations different of 90º, so I need to study how to apply rotation matrix to quaternion angles. > You'd have to perform this...

Hello again. I have a very close solution. In short: 1. I take q Quaternion and I store the orientation I want for calibrating in p quaternion. mpu.dmpGetQuaternion(&q, fifoBuffer); 2....