Random gyro peaks with MinIMU-9(DLH carrier)

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1

I recently received MinIMU-9(DLH carrier) and have been testing it.

I have no trouble reading data from it and it’s working fine with the given MinIMU-9-Arduino-AHRS code.

I edited the MinIMU-9-Arduino-AHRS code from this part

    // Calculations...
    Matrix_update(); 
    Normalize();
    Drift_correction();
    Euler_angles();
    // ***
   
    printdata();

to this


    // Calculations...
    Matrix_update(); 
    Normalize();
    Drift_correction();
    Euler_angles();
    // ***
    Serial.print(pitch,10);
    Serial.print("   ");
    Serial.print(roll,10);
    Serial.print("   ");
    Serial.print(yaw,10);
    Serial.print("   ");

    Serial.print(gyro_y);
    Serial.print("   ");
    Serial.print(gyro_x);
    Serial.print("   ");
    Serial.print(gyro_z);
    Serial.println("");

    //    printdata();

Then I plotted the data into matlab and I noticed, that I’m getting these strange peaks from all gyro axes. Mostly from Z-axis. They are all around -250 or 250.

1921×974 91.2 KB

Could this be some sort of communication error and the data bytes get corrupted? How could I fix it?

2

Hello,

We have also observed spikes like the ones you see in the data coming from the L3G4200D. I do not think they are caused by communication errors; it seems like the output from the gyro is just inherently noisy. You might be able to reduce the effect of the noise by doing some kind of software filtering on the gyro data.

- Kevin