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Therefore, I advise anyone who is using the method below to assess whether you are reading all the bytes that are being outputted by the Arduino. I found that updating the plot occupied a lot of processing time, which resulted in slower reading of the serial port. If (!mpu.NOTES: while I was using Raspberry Pi, I came across an issue between reading the serial port, saving to. #define OFFSETS 0, 0, 0, 0, 0, 0 // replace with Your New OffsetsĬonst uint64_t pAddress = 0xB00B1E5000LL įloat roll_PID, pid_throttle_L_F, pid_throttle_L_B, pid_throttle_R_F, pid_throttle_R_B, roll_error, roll_previous_error įloat pitch_PID, pitch_error, pitch_previous_error įloat MPURollOld = 0, MPURollNew = 0, MPUPitchOld = 0, MPUPitchNew = 0 X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro My program for the arduino is down below. And as you see in the graph it doesnt look like a "noise" but the drone is actually laying flat. The NewRoll/NewPitch is the low pass filtered values and the OldRoll/OldPitch are the raw values from the IMU. The drone is pressed agains the floor at increasing throttle: It is not really noise it is more of an offset error, because it becomes very high continously so my low pass filter slowly goes up to the wrong value in the end. When the quadcopter is laying flat all the axis are 0, when I throttle about 30% the output is about 0+-3 degrees, but the problem is when I full throttle, even if I press dow the quadcopter to the floor where it is 0 without throttle the roll axis is +10 to +25 degrees, pitch holds +-5 witch is ok, but I dont know how to filter out such high error. Right now my sketch uses a low pass filter to filter out noise. 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