Quote:
Originally Posted by magnets
The gyro measures angular rate, which is not influenced by any x/y/z motion of the robot, only rotation around a certain axis.
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In reality, there is indeed a slight sensitivity to acceleration by the yaw rate sensor. It's usually not enough to worry about in the context of an FRC match. However, if you've managed to get a precise enough calibration and to minimize the temperature effects, you might notice a very small error in the heading if the sensor is not at the center of rotation.