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Code Issues Releases Activity

pybricks.common.IMU: Clarify notes on calibrated values.

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Laurens Valk
2025-03-11 13:01:10 +01:00
parent 2a98264144
commit ed3059b47b
1 changed files with 10 additions and 8 deletions
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src/pybricks/_common.py
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@@ -1165,7 +1165,7 @@ class IMU:
hub consistently reports a different value for a full rotation. For
example, your hub might consistently report `357` degrees for every
`360` degree turn. You can measure this value
with ``hub.imu.rotation(-Axis.Z)`` and enter it as
with ``hub.imu.rotation(-Axis.Z, calibrated=False)`` and enter it as
the ``heading_correction`` setting. Then, the ``hub.imu.heading()``
method will take it into account going forward, correctly scaling it
to 360 degrees for a full rotation.
@@ -1179,17 +1179,19 @@ class IMU:
variations in acceleration below which the hub is considered
stationary enough to calibrate. After a reset the value
is 2500 mm/s².
heading_correction (Number, deg): Number of degrees reported by
``imu.rotation(-Axis.Z)`` for one full rotation of your robot.
After a reset the value is 360 degrees.
heading_correction (Number, deg): Number of degrees
reported by for one full rotation of your robot.
After a reset the value is 360 degrees. This is applied on top
of any scaling that is done by the ``angular_velocity_scale``
setting.
angular_velocity_bias (tuple, deg/s): Initial bias for angular
velocity measurements along x, y, and z immediately after boot.
After a reset the value is (0, 0, 0) deg/s.
angular_velocity_scale (tuple, deg): Scale adjustment for x, y, and
z rotation to account for manufacturing differences. After a reset the
value is (360, 360, 360) deg/s. The correct values can be
obtained using `hub.imu.rotation(Axis.X, calibrated=False)` and
repeating it for each axis.
z rotation to account for manufacturing differences. After a
reset the value is (360, 360, 360) deg/s. The correct values
can be obtained using `hub.imu.rotation(Axis.X, calibrated=False)`
and repeating it for each axis.
acceleration_correction (tuple, mm/s²): Scale adjustment for x, y,
and z gravity magnitude in both directions to account for
manufacturing differences. After a reset the