yaw calculation is faulty

[dsyleixa]

yaw calculation is faulty.

correctly it would be expected:
always start at 0°/360° at programm start (initialized arbitrarily).
Then for turning:
360/0...90°...180°...270°...360/0° for 1 complete turn clockwise , at 360° switch to 0°,
0/360...270...180...90...0/360 for counter-clockwise

So always positive values are expected to be retrieved -
that is identical to what a compass would show if alligned to Magnetic North at start of program.

Instead, your program behaves as follows:

Yaw starts randomly, e.g. at -120 instead of 0/360°

and after turning 180° counter-clockwise it ends randomly e.g., (150°... -160°) instead of exactly 180 degrees less than start value (i.e. when starting at -120° then it should show 60°, but it doesn't).
It does not detect 180° turns correctly. Around 180° it jerks to -180° and back.

ypr 179.90 -2.81 10.37
ypr 179.96 -2.76 10.37
ypr -179.98 -2.71 10.37
ypr -179.94 -2.68 10.38
ypr -179.90 -2.66 10.38

and then after 180° turned back clockwise it ends at -32
instead of the same like at start (i.e., -120 in that case)

ypr -32.43 -2.21 17.85
ypr -32.46 -2.20 17.74
ypr -32.50 -2.22 17.64
ypr -63.09 41.71 -53.83
FIFO overflow!
ypr -32.89 -2.17 13.40

so the calculation of turning several degrees is faulty!

[dsyleixa]

my current code:

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
// https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino 
//
// Changelog:
//      2016-04-18 - Eliminated a potential infinite loop
//      2013-05-08 - added seamless Fastwire support
//                 - added note about gyro calibration
//      2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
//      2012-06-20 - improved FIFO overflow handling and simplified read process
//      2012-06-19 - completely rearranged DMP initialization code and simplification
//      2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
//      2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
//      2012-06-05 - add gravity-compensated initial reference frame acceleration output
//                 - add 3D math helper file to DMP6 example sketch
//                 - add Euler output and Yaw/Pitch/Roll output formats
//      2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
//      2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
//      2012-05-30 - basic DMP initialization working

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/

#ifndef _BV
#define _BV(n) (1<<(n))
#endif



// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
/*
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif
*/
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high

/* =========================================================================
   NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
   depends on the MPU-6050's INT pin being connected to the Arduino's
   external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
   digital I/O pin 2.
 * ========================================================================= */

/* =========================================================================
   NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
   when using Serial.write(buf, len). The Teapot output uses this method.
   The solution requires a modification to the Arduino USBAPI.h file, which
   is fortunately simple, but annoying. This will be fixed in the next IDE
   release. For more info, see these links:

   http://arduino.cc/forum/index.php/topic,109987.0.html
   http://code.google.com/p/arduino/issues/detail?id=958
 * ========================================================================= */



// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT



#define INTERRUPT_PIN 12  // use pin 2 on Arduino Uno & most boards <<<<<<<<<<<<<<<<<<<<<< Interrupt Pin
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };



// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)
    Serial.begin(115200);
    while (!Serial); // wait for Leonardo enumeration, others continue immediately

    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
    // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
    // the baud timing being too misaligned with processor ticks. You must use
    // 38400 or slower in these cases, or use some kind of external separate
    // crystal solution for the UART timer.

    // initialize device
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);

    // verify connection
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // wait for ready
    delay(1000);
    Serial.println("starting in 3 sec");
    delay(1000);
    Serial.println("starting in 2 sec");
    delay(1000);
    Serial.println("starting in 1 sec");
    delay(1000);
    /*
    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    while (Serial.available() && Serial.read()); // empty buffer
    while (!Serial.available());                 // wait for data
    while (Serial.available() && Serial.read()); // empty buffer again
    */
    
    // load and configure the DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
        Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
        Serial.println(F(")..."));
        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

    // configure LED for output
    pinMode(LED_PIN, OUTPUT);
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
        if (mpuInterrupt && fifoCount < packetSize) {
          // try to get out of the infinite loop 
          fifoCount = mpu.getFIFOCount();
        }  
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        fifoCount = mpu.getFIFOCount();
        Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

        #ifdef OUTPUT_READABLE_QUATERNION
            // display quaternion values in easy matrix form: w x y z
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            Serial.print("quat\t");
            Serial.print(q.w);
            Serial.print("\t");
            Serial.print(q.x);
            Serial.print("\t");
            Serial.print(q.y);
            Serial.print("\t");
            Serial.println(q.z);
        #endif

        #ifdef OUTPUT_READABLE_EULER
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetEuler(euler, &q);
            Serial.print("euler\t");
            Serial.print(euler[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(euler[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(euler[2] * 180/M_PI);
        #endif

        #define OUTPUT_READABLE_YAWPITCHROLL
        #ifdef OUTPUT_READABLE_YAWPITCHROLL
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
            Serial.print("ypr\t");
            Serial.print(ypr[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(ypr[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(ypr[2] * 180/M_PI);
        #endif

        #ifdef OUTPUT_READABLE_REALACCEL
            // display real acceleration, adjusted to remove gravity
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            Serial.print("areal\t");
            Serial.print(aaReal.x);
            Serial.print("\t");
            Serial.print(aaReal.y);
            Serial.print("\t");
            Serial.println(aaReal.z);
        #endif

        #ifdef OUTPUT_READABLE_WORLDACCEL
            // display initial world-frame acceleration, adjusted to remove gravity
            // and rotated based on known orientation from quaternion
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
            Serial.print("aworld\t");
            Serial.print(aaWorld.x);
            Serial.print("\t");
            Serial.print(aaWorld.y);
            Serial.print("\t");
            Serial.println(aaWorld.z);
        #endif
    
        #ifdef OUTPUT_TEAPOT
            // display quaternion values in InvenSense Teapot demo format:
            teapotPacket[2] = fifoBuffer[0];
            teapotPacket[3] = fifoBuffer[1];
            teapotPacket[4] = fifoBuffer[4];
            teapotPacket[5] = fifoBuffer[5];
            teapotPacket[6] = fifoBuffer[8];
            teapotPacket[7] = fifoBuffer[9];
            teapotPacket[8] = fifoBuffer[12];
            teapotPacket[9] = fifoBuffer[13];
            Serial.write(teapotPacket, 14);
            teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
        #endif

        // blink LED to indicate activity
        blinkState = !blinkState;
        digitalWrite(LED_PIN, blinkState);
    }
}

[dsyleixa]

PS:
is the yaw calculation processed by the i2cdevlib source code or by the MPU6050 hardware?

[jrowberg]

Likely duplicate of #375

[dsyleixa]

and which is the solution to this issue?

[jrowberg]

Other than the calculation change mentioned in #375, the behavior that you describe is inherent in the IMU's output. It does not keep track of the last known yaw/heading value between resets, and since it's a 6-axis device, it has no reference point for north internally available. Further, the v2.0 DMP microcode (and possibly other versions) always perform an initial accel/gyro calibration on start-up, and during this time the heading typically drifts--sometimes considerably--until the gyros zero themselves.

Concerning the range of [-180, +180] instead of [0, 360], this is arbitrary and easily adjusted at an application level. Again, since there's no true north reference point, any given heading being "0" is relative only to another heading of your choice.

[dsyleixa]

just to clarify:
I don't need magentic north adjustment, just a arbitrary set to zero at start up.

But unfortunately yaw is calculated unstable after that, either which initial value has been taken,
it never keeps accurate track to yaw, ll the vakues are completely inaccurae after some turning back and forth.

As stated: e.g. when initially -120° is shown, after 180° counter-clockwise and then 180° clockwise to the initial position, t does not show -120° like at start but -32.4 which is complete nonsense.

[dsyleixa]

update 1:

it take extremely long until yaw setlles to a stabile value, but after perhaps 1 min it's stable then:
perhaps this was 1 reason why it came to this weird turning forth-and-back result:

Initializing I2C devices...
Testing device connections...
MPU6050 connection successful
starting in 3 sec
starting in 2 sec
starting in 1 sec
Initializing DMP...
Enabling DMP...
Enabling interrupt detection (Arduino external interrupt 12)...
DMP ready! Waiting for first interrupt...
ypr -16.45 147.38 -178.21
ypr -16.41 147.14 -178.14
ypr -16.35 146.88 -178.04
ypr -16.30 146.62 -177.94
ypr -16.23 146.36 -177.84
ypr -16.18 146.10 -177.74
ypr -16.11 145.84 -177.64
ypr -16.05 145.57 -177.54
ypr -15.98 145.30 -177.43
ypr -15.92 145.03 -177.33
ypr -15.86 144.75 -177.23
ypr -15.79 144.47 -177.13
ypr -15.72 144.19 -177.02
ypr -15.66 143.92 -176.90
ypr -15.59 143.63 -176.80
ypr -15.53 143.35 -176.69
ypr -15.46 143.05 -176.58
ypr -15.39 142.77 -176.47
ypr -15.32 142.48 -176.36
ypr -15.25 142.18 -176.24
ypr -15.18 141.88 -176.12
ypr -15.10 141.59 -176.01
ypr -15.03 141.29 -175.89
ypr -14.96 140.99 -175.78
ypr -14.88 140.69 -175.65
ypr -14.80 140.38 -175.53
ypr -14.73 140.07 -175.41
ypr -14.66 139.76 -175.28
ypr -14.59 139.45 -175.16
ypr -14.50 139.14 -175.04
ypr -14.43 138.82 -174.90
ypr -14.34 138.50 -174.77
ypr -14.27 138.18 -174.64
ypr -14.18 137.86 -174.51
ypr -14.09 137.53 -174.38
ypr -14.01 137.20 -174.24
ypr -13.93 136.88 -174.10
ypr -13.84 136.54 -173.96
ypr -13.75 136.21 -173.82
ypr -13.66 135.87 -173.68
ypr -13.57 135.54 -173.54
ypr -13.48 135.19 -173.40
ypr -13.38 134.85 -173.25
ypr -13.29 134.51 -173.10
ypr -13.19 134.16 -172.95
ypr -13.09 133.81 -172.79
ypr -13.00 133.46 -172.64
ypr -12.90 133.11 -172.47
ypr -12.79 132.75 -172.31
ypr -12.69 132.40 -172.16
ypr -12.58 132.04 -171.99
ypr -12.47 131.67 -171.82
ypr -12.36 131.31 -171.65
ypr -12.25 130.94 -171.49
ypr -12.14 130.57 -171.31
ypr -12.03 130.20 -171.13
ypr -11.91 129.83 -170.95
ypr -11.78 129.45 -170.77
ypr -11.67 129.08 -170.58
ypr -11.54 128.69 -170.39
ypr -11.40 128.31 -170.19
ypr -11.28 127.93 -170.00
ypr -11.15 127.54 -169.80
ypr -11.01 127.15 -169.60
ypr -10.87 126.77 -169.39
ypr -10.74 126.37 -169.18
ypr -10.59 125.98 -168.96
ypr -10.44 125.59 -168.75
ypr -10.29 125.19 -168.52
ypr -10.13 124.78 -168.30
ypr -9.97 124.38 -168.06
ypr -9.81 123.98 -167.82
ypr -9.63 123.58 -167.58
ypr -9.46 123.17 -167.34
ypr -9.29 122.75 -167.08
ypr -9.11 122.35 -166.82
ypr -8.92 121.94 -166.56
ypr -8.72 121.53 -166.29
ypr -8.53 121.11 -166.01
ypr -8.32 120.69 -165.72
ypr -8.11 120.27 -165.44
ypr -7.90 119.85 -165.14
ypr -7.68 119.43 -164.83
ypr -7.44 119.00 -164.52
ypr -7.20 118.58 -164.21
ypr -6.96 118.15 -163.87
ypr -6.70 117.73 -163.54
ypr -6.45 117.30 -163.19
ypr -6.16 116.86 -162.82
ypr -5.88 116.44 -162.46
ypr -5.59 116.01 -162.08
ypr -5.29 115.57 -161.69
ypr -4.97 115.14 -161.29
ypr -4.64 114.70 -160.88
ypr -4.29 114.27 -160.44
ypr -3.93 113.83 -160.00
ypr -3.57 113.39 -159.54
ypr -3.17 112.96 -159.05
ypr -2.77 112.52 -158.56
ypr -2.35 112.08 -158.05
ypr -1.90 111.64 -157.51
ypr -1.43 111.20 -156.96
ypr -0.95 110.76 -156.39
ypr -0.44 110.32 -155.80
ypr 0.11 109.88 -155.16
ypr 0.68 109.44 -154.52
ypr 1.27 109.00 -153.85
ypr 1.90 108.57 -153.14
ypr 2.58 108.13 -152.39
ypr 3.29 107.70 -151.62
ypr 4.04 107.26 -150.80
ypr 4.83 106.83 -149.95
ypr 5.68 106.40 -149.06
ypr 6.58 105.98 -148.13
ypr 7.54 105.56 -147.14
ypr 8.58 105.13 -146.09
ypr 9.71 104.72 -144.96
ypr 10.90 104.31 -143.80
ypr 12.18 103.90 -142.57
ypr 13.57 103.50 -141.27
ypr 15.06 103.10 -139.88
ypr 16.69 102.70 -138.40
ypr 18.41 102.32 -136.87
ypr 20.34 101.95 -135.21
ypr 22.40 101.58 -133.46
ypr 24.67 101.22 -131.56
ypr 27.13 100.88 -129.59
ypr 29.84 100.55 -127.45
ypr 32.76 100.22 -125.20
ypr 35.94 99.92 -122.82
ypr 39.41 99.63 -120.27
ypr 43.10 99.37 -117.60
ypr 47.12 99.12 -114.74
ypr 51.39 98.90 -111.75
ypr 55.92 98.69 -108.61
ypr 60.66 98.52 -105.34
ypr 65.59 98.37 -101.93
ypr 70.49 98.25 -98.44
ypr 75.49 98.16 -94.84
ypr 80.49 98.10 -91.13
ypr 85.33 81.93 -87.38
ypr 89.88 81.92 -83.70
ypr 94.34 81.88 -79.97
ypr 98.44 81.80 -76.33
ypr 102.31 81.69 -72.73
ypr 105.90 81.57 -69.25
ypr 109.18 81.40 -65.91
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ypr -154.08 -5.68 10.43
ypr -154.04 -5.67 10.43
ypr -153.99 -5.67 10.43
ypr -153.95 -5.68 10.43
ypr -153.90 -5.67 10.43
ypr -153.86 -5.68 10.43
ypr -153.81 -5.68 10.43
ypr -153.77 -5.67 10.43
ypr -153.72 -5.67 10.43
ypr -153.68 -5.68 10.43
ypr -153.63 -5.67 10.43
ypr -153.59 -5.67 10.43
ypr -153.54 -5.67 10.43
ypr -153.50 -5.67 10.43
ypr -153.45 -5.67 10.43
ypr -153.40 -5.68 10.43
ypr -153.36 -5.67 10.43
ypr -153.31 -5.67 10.43
ypr -153.27 -5.68 10.43
ypr -153.22 -5.67 10.43
ypr -153.18 -5.68 10.43
ypr -153.13 -5.68 10.43
ypr -153.09 -5.67 10.43
ypr -153.04 -5.68 10.43
ypr -152.99 -5.67 10.43
ypr -152.95 -5.67 10.43
ypr -152.90 -5.67 10.43
ypr -152.86 -5.67 10.43
ypr -152.81 -5.67 10.43
ypr -152.77 -5.68 10.43
ypr -152.72 -5.68 10.43
ypr -152.67 -5.67 10.43
ypr -152.63 -5.68 10.43
ypr -152.58 -5.67 10.43
ypr -152.54 -5.67 10.43
ypr -152.50 -5.67 10.43
ypr -152.45 -5.68 10.43
ypr -152.41 -5.67 10.43
ypr -152.36 -5.67 10.43
ypr -152.31 -5.67 10.43
ypr -152.27 -5.67 10.43
ypr -152.22 -5.67 10.43
ypr -152.18 -5.67 10.43
ypr -152.14 -5.67 10.43
ypr -152.09 -5.67 10.43
ypr -152.04 -5.67 10.43
ypr -152.00 -5.67 10.43
ypr -151.95 -5.67 10.43
ypr -151.91 -5.67 10.43
ypr -151.86 -5.67 10.43
ypr -151.82 -5.67 10.43
ypr -151.78 -5.67 10.43
ypr -151.73 -5.67 10.43
ypr -151.68 -5.67 10.43
ypr -151.64 -5.67 10.43
ypr -151.59 -5.67 10.43
ypr -151.55 -5.68 10.43
ypr -151.51 -5.67 10.43
ypr -151.46 -5.67 10.43
ypr -151.41 -5.68 10.43
ypr -151.37 -5.67 10.43
ypr -151.32 -5.67 10.43
ypr -151.28 -5.68 10.43
ypr -151.23 -5.67 10.43
ypr -151.19 -5.67 10.43
ypr -151.14 -5.68 10.43
ypr -151.09 -5.67 10.43
ypr -151.05 -5.68 10.44
ypr -151.01 -5.68 10.43
ypr -150.96 -5.68 10.43
ypr -150.92 -5.68 10.43
ypr -150.87 -5.68 10.43
ypr -150.82 -5.68 10.43
ypr -150.78 -5.68 10.43
ypr -150.74 -5.68 10.43
ypr -150.69 -5.67 10.43
ypr -150.65 -5.68 10.43
ypr -150.59 -5.68 10.43
ypr -150.55 -5.68 10.43
ypr -150.51 -5.68 10.43
ypr -150.46 -5.68 10.43
ypr -150.42 -5.68 10.43
ypr -150.38 -5.68 10.43
ypr -150.32 -5.68 10.43
ypr -150.28 -5.68 10.44
ypr -150.25 -5.67 10.39
ypr -150.25 -5.65 10.30
ypr -150.24 -5.64 10.20
ypr -150.24 -5.62 10.11
ypr -150.23 -5.60 10.02
ypr -150.22 -5.58 9.92
ypr -150.22 -5.57 9.83
ypr -150.21 -5.55 9.75
ypr -150.21 -5.53 9.66
ypr -150.21 -5.51 9.57
ypr -150.20 -5.50 9.48
ypr -150.19 -5.48 9.39
ypr -150.19 -5.46 9.31
ypr -150.18 -5.45 9.22
ypr -150.18 -5.42 9.14
ypr -150.17 -5.41 9.05
ypr -150.17 -5.40 8.97
ypr -150.17 -5.38 8.89
ypr -150.16 -5.36 8.81
ypr -150.15 -5.35 8.73
ypr -150.15 -5.33 8.64
ypr -150.14 -5.31 8.57
ypr -150.14 -5.30 8.49
ypr -150.14 -5.28 8.41
ypr -150.13 -5.27 8.33
ypr -150.13 -5.26 8.26
ypr -150.12 -5.24 8.18
ypr -150.12 -5.22 8.11
ypr -150.11 -5.21 8.03
ypr -150.11 -5.19 7.95
ypr -150.11 -5.18 7.88
ypr -150.11 -5.16 7.81
ypr -150.10 -5.15 7.73
ypr -150.10 -5.14 7.66
ypr -150.09 -5.12 7.59
ypr -150.09 -5.11 7.52
ypr -150.09 -5.09 7.45
ypr -150.08 -5.08 7.38
ypr -150.08 -5.06 7.31
ypr -150.08 -5.05 7.24
ypr -150.07 -5.03 7.18
ypr -150.07 -5.02 7.11
ypr -150.06 -5.01 7.04
ypr -150.06 -5.00 6.98
ypr -150.06 -4.99 6.91
ypr -150.06 -4.97 6.85
ypr -150.05 -4.96 6.78
ypr -150.05 -4.94 6.72
ypr -150.05 -4.93 6.65
ypr -150.04 -4.92 6.59
ypr -150.04 -4.91 6.53
ypr -150.04 -4.89 6.47
ypr -150.04 -4.88 6.41
ypr -150.04 -4.87 6.35
ypr -150.03 -4.85 6.29
ypr -150.03 -4.85 6.23
ypr -150.02 -4.83 6.17
ypr -150.02 -4.82 6.11
ypr -150.02 -4.81 6.05
ypr -150.02 -4.80 6.00
ypr -150.02 -4.78 5.94
ypr -150.01 -4.77 5.89
ypr -150.01 -4.76 5.83
ypr -150.01 -4.75 5.78
ypr -150.00 -4.74 5.72
ypr -150.00 -4.73 5.67
ypr -150.00 -4.72 5.61
ypr -150.00 -4.71 5.56
ypr -150.00 -4.69 5.51
ypr -150.00 -4.68 5.45
ypr -149.99 -4.67 5.40
ypr -149.99 -4.66 5.35
ypr -149.99 -4.65 5.30
ypr -149.99 -4.65 5.25
ypr -149.99 -4.63 5.20
ypr -149.99 -4.63 5.15
ypr -149.99 -4.61 5.10
ypr -149.98 -4.60 5.05
ypr -149.98 -4.60 5.00
ypr -149.97 -4.58 4.96
ypr -149.97 -4.57 4.91
ypr -149.97 -4.57 4.86
ypr -149.97 -4.55 4.81
ypr -149.97 -4.54 4.76
ypr -149.97 -4.54 4.72
ypr -149.96 -4.52 4.67
ypr -149.96 -4.51 4.63
ypr -149.96 -4.50 4.59
ypr -149.96 -4.50 4.54
ypr -149.96 -4.48 4.49
ypr -149.96 -4.47 4.45
ypr -149.96 -4.46 4.41
ypr -149.95 -4.46 4.36
ypr -149.95 -4.45 4.32
ypr -149.95 -4.44 4.28
ypr -149.95 -4.43 4.24
ypr -149.94 -4.42 4.19
ypr -149.95 -4.42 4.15
ypr -149.95 -4.40 4.11
ypr -149.94 -4.39 4.07
ypr -149.94 -4.38 4.03
ypr -149.94 -4.38 3.99
ypr -149.94 -4.37 3.95
ypr -149.93 -4.36 3.91
ypr -149.93 -4.36 3.87
ypr -149.93 -4.35 3.83
ypr -149.94 -4.34 3.79
ypr -149.93 -4.33 3.76
ypr -149.93 -4.32 3.73
ypr -149.93 -4.31 3.68
ypr -149.93 -4.30 3.65
ypr -149.93 -4.30 3.61
ypr -149.92 -4.28 3.57
ypr -149.92 -4.28 3.54
ypr -149.92 -4.27 3.50
ypr -149.93 -4.26 3.47
ypr -149.92 -4.26 3.44
ypr -149.92 -4.25 3.40
ypr -149.92 -4.24 3.37
ypr -149.92 -4.24 3.33
ypr -149.91 -4.23 3.30
ypr -149.91 -4.22 3.26
ypr -149.91 -4.22 3.23
ypr -149.91 -4.21 3.20
ypr -149.91 -4.20 3.16
ypr -149.91 -4.20 3.13
ypr -149.91 -4.19 3.10
ypr -149.91 -4.18 3.06
ypr -149.90 -4.17 3.04
ypr -149.90 -4.17 3.00
ypr -149.90 -4.16 2.97
ypr -149.90 -4.15 2.94
ypr -149.90 -4.15 2.91
ypr -149.90 -4.15 2.88
ypr -149.90 -4.14 2.85
ypr -149.90 -4.13 2.82
ypr -149.90 -4.12 2.80
ypr -149.90 -4.12 2.77
ypr -149.90 -4.11 2.74
ypr -149.90 -4.11 2.71
ypr -149.89 -4.10 2.68
ypr -149.89 -4.10 2.65
ypr -149.89 -4.09 2.62
ypr -149.89 -4.08 2.60
ypr -149.89 -4.08 2.57
ypr -149.89 -4.08 2.54
ypr -149.89 -4.07 2.52
ypr -149.89 -4.07 2.49
ypr -149.89 -4.06 2.46
ypr -149.89 -4.06 2.44
ypr -149.88 -4.05 2.41
ypr -149.88 -4.05 2.39
ypr -149.88 -4.04 2.36
ypr -149.88 -4.04 2.33
ypr -149.88 -4.03 2.31
ypr -149.88 -4.02 2.29
ypr -149.88 -4.02 2.26
ypr -149.88 -4.02 2.24
ypr -149.88 -4.01 2.22
ypr -149.88 -4.00 2.19
ypr -149.88 -4.00 2.17
ypr -149.87 -4.00 2.15
ypr -149.87 -3.99 2.12
ypr -149.87 -3.99 2.10
ypr -149.87 -3.98 2.07
ypr -149.87 -3.98 2.05
ypr -149.87 -3.98 2.03
ypr -149.87 -3.97 2.00
ypr -149.87 -3.96 1.98
ypr -149.87 -3.96 1.96
ypr -149.87 -3.95 1.94
ypr -149.87 -3.95 1.92
ypr -149.87 -3.94 1.89
ypr -149.87 -3.93 1.87
ypr -149.87 -3.93 1.85
ypr -149.87 -3.93 1.83
ypr -149.87 -3.93 1.81
ypr -149.86 -3.92 1.79
ypr -149.86 -3.91 1.77
ypr -149.86 -3.91 1.76
ypr -149.86 -3.91 1.74
ypr -149.86 -3.90 1.72
ypr -149.86 -3.90 1.69
ypr -149.86 -3.90 1.67
ypr -149.87 -3.89 1.65
ypr -149.87 -3.89 1.63
ypr -149.86 -3.88 1.62
ypr -149.86 -3.88 1.60
ypr -149.86 -3.88 1.58
ypr -149.86 -3.87 1.56
ypr -149.86 -3.87 1.54
ypr -149.86 -3.86 1.52
ypr -149.86 -3.86 1.51
ypr -149.86 -3.85 1.49
ypr -149.86 -3.86 1.47
ypr -149.86 -3.85 1.45
ypr -149.86 -3.85 1.43
ypr -149.86 -3.84 1.42
ypr -149.86 -3.84 1.40
ypr -149.86 -3.83 1.38
ypr -149.86 -3.83 1.36
ypr -149.86 -3.83 1.35
ypr -149.86 -3.83 1.33
ypr -149.86 -3.82 1.31
ypr -149.86 -3.82 1.30
ypr -149.85 -3.81 1.28
ypr -149.85 -3.82 1.27
ypr -149.85 -3.81 1.25
ypr -149.85 -3.81 1.23

! +/- stabile now !

[dsyleixa]

Update 2:

after stabilization, and after ROUGHLY turning 180° back and forth, it now shows ROUGHLY a similar value like before turning ( -144° vs. -149°):

ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.90 -3.42 -0.48
ypr -149.90 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
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ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.43 -0.49
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ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.48
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.49
ypr -149.89 -3.42 -0.49
ypr -149.89 -3.42 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.49
ypr -149.89 -3.42 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.49
ypr -149.89 -3.42 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.43 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.43 -0.49
ypr -149.89 -3.42 -0.48
ypr -149.88 -3.42 -0.48
ypr -149.89 -3.42 -0.48
ypr -149.89 -3.42 -0.49
ypr -149.88 -3.42 -0.49
ypr -149.88 -3.42 -0.49
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.42 -0.48
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
ypr -149.88 -3.43 -0.49
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ypr -144.13 -3.39 -0.51
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ypr -144.13 -3.39 -0.52
ypr -144.13 -3.40 -0.52
ypr -144.13 -3.39 -0.52
ypr -144.13 -3.39 -0.52
ypr -144.13 -3.39 -0.52
ypr -144.12 -3.39 -0.52
ypr -144.12 -3.39 -0.52
ypr -144.12 -3.40 -0.52
ypr -144.12 -3.40 -0.52
ypr -144.12 -3.40 -0.52
ypr -144.12 -3.40 -0.52
ypr -144.12 -3.40 -0.52
ypr -144.12 -3.40 -0.52
ypr -144.12 -3.40 -0.52
ypr -144.11 -3.40 -0.52
ypr -144.11 -3.40 -0.52
ypr -144.11 -3.40 -0.52
ypr -144.11 -3.40 -0.52
ypr -144.11 -3.40 -0.52
ypr -144.11 -3.40 -0.52
ypr -144.11 -3.40 -0.52
ypr -144.10 -3.40 -0.52
ypr -144.10 -3.40 -0.52
ypr -144.10 -3.40 -0.52
ypr -144.10 -3.40 -0.52
ypr -144.10 -3.40 -0.52
ypr -144.10 -3.40 -0.52
ypr -144.10 -3.40 -0.52
ypr -144.10 -3.40 -0.52

I'll keep on checking and will report!

[dsyleixa]

Update 3:
I repetitively unplugged and restarted, and I could reproduce what I had reported:

• It takes quite long (30 - 40 sec ) until the yaw value settles.
• After having settled, an actual "stabile start value" varies randomly completely different to either other one , mostly in a range +30°...-170°
• when once having settled the calculations of turning back and forth end up at quite stable trustworthy values.
• edit: drift is (partially) -1.5° per 5 min, , partially much less (-4° / 30min)

Can this yaw start value (after having setlled) be arbitrarily set to 0° at either time in the program or is that value produced by the IMU chip autonomously?

[jrowberg]

In my (ancient) experience with the v2.0 DMP microcode, the calibration process usually takes about 8 seconds as long as the IMU is sitting still, e.g. flat on a table. It will always take longer if it is in motion.

There's no way I know of to reset the DMP-provided yaw value back to 0, although this capability may exist internally. The simplest way is to have the application code monitor the reported yaw for changes during what you know or expect to be the calibration phase, and then once the drift stops, calculate an "offset" heading value and just subtract it from every yaw value the sensor provides.

Or, even more simply, provide a "reset heading" mechanism via button press or serial input value so that you can just zero it on demand whenever you want to.

[dsyleixa]

yes, thank you for your advices.
Indeed my MPU is always fixated to the table until settling yaw is finished.
Resetting offset by a button press sounds fine 8)

I'll try to fix the -179.9/+179.9 shifting by a
if(yaw<0) yaw+=360.0;

[mark-hahn]

if(yaw<0) yaw+=360.0

Actually, it is just yaw+=180.0.