{"action":"opened","issue":{"url":"https://api.github.com/repos/mjs513/FreeIMU-Updates/issues/20","labels_url":"https://api.github.com/repos/mjs513/FreeIMU-Updates/issues/20/labels{/name}","comments_url":"https://api.github.com/repos/mjs513/FreeIMU-Updates/issues/20/comments","events_url":"https://api.github.com/repos/mjs513/FreeIMU-Updates/issues/20/events","html_url":"https://github.com/mjs513/FreeIMU-Updates/issues/20","id":59715123,"number":20,"title":"MPU 9250 - Orientation incorrect on the Cube Processing Code","user":{"login":"a2kram","id":4079557,"avatar_url":"https://avatars.githubusercontent.com/u/4079557?v=3","gravatar_id":"","url":"https://api.github.com/users/a2kram","html_url":"https://github.com/a2kram","followers_url":"https://api.github.com/users/a2kram/followers","following_url":"https://api.github.com/users/a2kram/following{/other_user}","gists_url":"https://api.github.com/users/a2kram/gists{/gist_id}","starred_url":"https://api.github.com/users/a2kram/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/a2kram/subscriptions","organizations_url":"https://api.github.com/users/a2kram/orgs","repos_url":"https://api.github.com/users/a2kram/repos","events_url":"https://api.github.com/users/a2kram/events{/privacy}","received_events_url":"https://api.github.com/users/a2kram/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-03-03T22:16:03Z","updated_at":"2015-03-03T22:16:03Z","closed_at":null,"body":"Hi mjs513!\r\n\r\nThanks a lot for your efforts. I had a project utilizing the mpu9250 and I was having issues with yaw drifts. I tried running your calibration gui then validating results on the Cube Processing Code, however, the cube was not responsive at all to my orientation changes. I noticed that on your calibration gui plots the scale of the magnetometer output was a lot larger than the scale I was getting. Also, I noticed that the calibration gui output was very different to the calibration9250 file you had for reference. I tried looking through the code but I wasnt able to understand the output of the writeArr function.\r\n\r\n![calib_gui_ouptut](https://cloud.githubusercontent.com/assets/4079557/6473662/cab39850-c1c8-11e4-86c7-0c03b3ed2b9f.png)\r\n\r\nMy calibration.h output:\r\nconst int acc_off_x = -581;\r\nconst int acc_off_y = 291;\r\nconst int acc_off_z = 1121;\r\nconst float acc_scale_x = 13774.645635;\r\nconst float acc_scale_y = 17193.711390;\r\nconst float acc_scale_z = 17176.305631;\r\n\r\nconst int magn_off_x = 43;\r\nconst int magn_off_y = 72;\r\nconst int magn_off_z = -210;\r\nconst float magn_scale_x = 252.625788;\r\nconst float magn_scale_y = 239.098613;\r\nconst float magn_scale_z = 263.636508;\r\n\r\nAnyways, please let me know if the calibration gui is ready to be used for the mpu9250, if the only change required is to define GEN_MPU9250 in the FreeIMU.h file, and if you notice anything wrong with my calibration plots, or any pointers to look for when debugging.\r\n\r\nThanks again!\r\n\r\na2kram"}}