Problems with the yaw rate sensor

[maxlop-cmd]

Problems with the yaw rate sensor

After the robot completes a rotation, the yaw rate sensor is off by about 1.5°. When I return to the original position/starting point, the yaw rate sensor reading is no longer 0° but 1°, which is not good. My robot is therefore no longer moving straight. What can I do to reduce the yaw rate sensor's drift angle?

[laurensvalk]

After the robot completes a rotation, the yaw rate sensor is off by about 1.5°.

Since a gyro is not a compass, this is expected. You can adjust for this by telling the right value for your hub. So you found this:

Next time you rotate one circle it will use this value to adjust, and report 360. To get a more accurate value, you'll want to make quite a few rotations (like 10) and divide it by 10 to get the value.

What can I do to reduce the yaw rate sensor's drift angle?

0 or 1 after one rotation could easily be a rounding error or not holding the robot in exactly the same place.

Does this number grow if you keep rotating it forward and back? If it stays within a degree or two, then it is not drifting.