{"action":"created","issue":{"url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/72","repository_url":"https://api.github.com/repos/kriswiner/MPU-9250","labels_url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/72/labels{/name}","comments_url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/72/comments","events_url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/72/events","html_url":"https://github.com/kriswiner/MPU-9250/issues/72","id":173343911,"number":72,"title":"About MPU9250SelfTest and AK8963_ASAX","user":{"login":"ijunglee","id":12967717,"avatar_url":"https://avatars.githubusercontent.com/u/12967717?v=3","gravatar_id":"","url":"https://api.github.com/users/ijunglee","html_url":"https://github.com/ijunglee","followers_url":"https://api.github.com/users/ijunglee/followers","following_url":"https://api.github.com/users/ijunglee/following{/other_user}","gists_url":"https://api.github.com/users/ijunglee/gists{/gist_id}","starred_url":"https://api.github.com/users/ijunglee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ijunglee/subscriptions","organizations_url":"https://api.github.com/users/ijunglee/orgs","repos_url":"https://api.github.com/users/ijunglee/repos","events_url":"https://api.github.com/users/ijunglee/events{/privacy}","received_events_url":"https://api.github.com/users/ijunglee/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2016-08-26T00:47:01Z","updated_at":"2016-08-26T13:40:32Z","closed_at":null,"body":"Hello, thank you for replying me the e-mail.\r\nI have read your mail about the mag calibration and came to here to see the code. \r\nI finally understood the procedure of mag calibration!\r\nBut I have two more questions as follows:\r\n1. What are the AK8963_ASAX, AK8963_ASAY and AK8963_ASAZ? Should I have to read them and calibrate the mag before I start to do the hard-iron and soft-iron calibration?\r\n2. How about MPU9250SelfTest? Is this function also for calibration and I must to do this for acc and gyro calibration?\r\n\r\nThank you very much! "},"comment":{"url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/comments/242738235","html_url":"https://github.com/kriswiner/MPU-9250/issues/72#issuecomment-242738235","issue_url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/72","id":242738235,"user":{"login":"ijunglee","id":12967717,"avatar_url":"https://avatars.githubusercontent.com/u/12967717?v=3","gravatar_id":"","url":"https://api.github.com/users/ijunglee","html_url":"https://github.com/ijunglee","followers_url":"https://api.github.com/users/ijunglee/followers","following_url":"https://api.github.com/users/ijunglee/following{/other_user}","gists_url":"https://api.github.com/users/ijunglee/gists{/gist_id}","starred_url":"https://api.github.com/users/ijunglee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ijunglee/subscriptions","organizations_url":"https://api.github.com/users/ijunglee/orgs","repos_url":"https://api.github.com/users/ijunglee/repos","events_url":"https://api.github.com/users/ijunglee/events{/privacy}","received_events_url":"https://api.github.com/users/ijunglee/received_events","type":"User","site_admin":false},"created_at":"2016-08-26T13:40:32Z","updated_at":"2016-08-26T13:40:32Z","body":"Sorry for so many questions......\r\nThis the result when I use the Servomotor rotate the MPU9250 90 degrees back and forward on the horizontal plane and stay in each attitude for 2 seconds  . (I only tried to validate the heading/yaw)\r\n![yaw](https://cloud.githubusercontent.com/assets/12967717/18007175/87cb432c-6bd5-11e6-9b3f-11ed8cd8cae8.PNG)\r\n\r\n\r\nThis is the raw data of the mag data on each axis. The sampling rate is about 50Hz.\r\n![raw](https://cloud.githubusercontent.com/assets/12967717/18006890/623ea064-6bd4-11e6-83c5-f7b484c914aa.PNG)\r\n\r\nI have calibrate the mag data and use MadgwickAHRS algorithm to do the sensor fusion. I read your code and also change the axis when I pass the raw data to the function like this:\r\nMadgwickQuaternionUpdate(-ax, ay, az, gx*PI/180.0f, -gy*PI/180.0f, -gz*PI/180.0f,  my,  -mx, mz);\r\n\r\nHowever, I am not sure if the yaw is correct. Because I always got a peak when I change to one attitude to another. Do you have any idea about how to solve this problem?\r\n\r\nThanks in advance again!"}}
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