One of the previous blog posts mentioned a possible problem with the data that we had collected from our X-axis accelerometer. While trying to characterize all of the axes with higher precision using a homemade protractor setup we noticed that even our Y-axis data was skewed. Prior to testing we updated the build of the Transterpreter and Plumbing that we were using to make sure that we were current.
My computer had been running slowly lately so around lunchtime I decided that I would take a break to update my linux distrobution to Ubuntu 10.04. After reinstalling the Transterpreter and Plumbing, all axes on the Razor IMU seemed to be working properly. Below are some graphs of how our data looks now.
This is the data retrieved from the X axis of our IMU
This is the Y axis data from our IMU
The best explanation for our problems is that the code in the transterpreter has been constantly changing, and we may have had a different ADC reference voltage each time we tested. Now that we have good data from our accelerometers it is time to implement the complementary filter which we will document soon.