{"action":"created","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/4573","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/4573/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/4573/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/4573/events","html_url":"https://github.com/betaflight/betaflight/issues/4573","id":273488304,"number":4573,"title":"drift problem with MPU6000","user":{"login":"klaudius666","id":3015053,"avatar_url":"https://avatars2.githubusercontent.com/u/3015053?v=4","gravatar_id":"","url":"https://api.github.com/users/klaudius666","html_url":"https://github.com/klaudius666","followers_url":"https://api.github.com/users/klaudius666/followers","following_url":"https://api.github.com/users/klaudius666/following{/other_user}","gists_url":"https://api.github.com/users/klaudius666/gists{/gist_id}","starred_url":"https://api.github.com/users/klaudius666/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/klaudius666/subscriptions","organizations_url":"https://api.github.com/users/klaudius666/orgs","repos_url":"https://api.github.com/users/klaudius666/repos","events_url":"https://api.github.com/users/klaudius666/events{/privacy}","received_events_url":"https://api.github.com/users/klaudius666/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":83,"created_at":"2017-11-13T16:18:10Z","updated_at":"2018-02-02T01:34:27Z","closed_at":null,"author_association":"NONE","body":"Get drift problems on lizard95 based on MPU6000.\r\n\r\nAll is working like if accelerometer was not taken in account and after 5 min of flight acc drift become very important. if i land and arm, level is perfect and begin slowly drifting.\r\n\r\ni took a look to function imuIsAccelerometerHealthy thinking that (cause of vibration noise) this function return false in most case and for a long period (then leveling is just trusting on gyro.... but will drift in time).\r\n\r\nwhen computing accmagniture you avoid using square root \r\nby doing  (accx*accx+accy*accy+accz*accz)*100/(acc_1G*acc_1G), and the right formulae without optim should be\r\nsqrt(accx*accx+accy*accy+accz*accz)*100/acc_1g. \r\n\r\ni' suppose that's why you compare with 81=9x9 for 90% and 121=11*11 for 110%.\r\n\r\nI think it could be cool to be able to change this 10% tolerance on acc reading, cause perhaps on small quadcopters it could avoid this continuous drift effect.\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/comments/362458311","html_url":"https://github.com/betaflight/betaflight/issues/4573#issuecomment-362458311","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/4573","id":362458311,"user":{"login":"JCN1","id":24377894,"avatar_url":"https://avatars1.githubusercontent.com/u/24377894?v=4","gravatar_id":"","url":"https://api.github.com/users/JCN1","html_url":"https://github.com/JCN1","followers_url":"https://api.github.com/users/JCN1/followers","following_url":"https://api.github.com/users/JCN1/following{/other_user}","gists_url":"https://api.github.com/users/JCN1/gists{/gist_id}","starred_url":"https://api.github.com/users/JCN1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/JCN1/subscriptions","organizations_url":"https://api.github.com/users/JCN1/orgs","repos_url":"https://api.github.com/users/JCN1/repos","events_url":"https://api.github.com/users/JCN1/events{/privacy}","received_events_url":"https://api.github.com/users/JCN1/received_events","type":"User","site_admin":false},"created_at":"2018-02-02T01:34:27Z","updated_at":"2018-02-02T01:34:27Z","author_association":"NONE","body":"Follow up... I just cloned the master repository... think I'm starting to figure things out."}}
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