Quote:
Originally Posted by randantor
What are the units for the raw gyro output in the LabVIEW Library? It looks like it could be radians/second but I'm not entirely sure.
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Raw Gyro data is a 16-bit signed value, in hardware units. Conversion to a real-world value requires knowledge of the sensor Full Scale Range (FSR).
The Gyro FSR is configured for 2000 deg/sec. To convert raw gyro data to deg/sec, simply divide the raw gyro value by 2000:
float curr_deg_sec_x = (float)raw_gyro_x / 2000.0;
Note that gyro values are calibrated, so have had offsets automatically applied to them by the Digital Motion Processor (DMP) on the Invensense MPU-9250 silicon.
[Raw acceleration data is similar; in this case, in units of Gs and since the Accelerometer FSR is configured for +/- 2G, the calculation is:
float curr_accel_x = (float)raw_accel_x / 2.0;]
Most users don't access the raw gyro data directly, since to be useful it typically requires the user software to integrate the data - and for typical use cases, this work is offloaded to the navX MXP processor.