Data Sheet

Copyright © Terabee 2018
Magnetic fields and vibration can disrupt IMU calibration. In order to force a self-calibration
of the IMU, move the TeraRanger Hub Evo in ways that use the full range of each axis.
Here is a non-exhaustive list of motions that help with calibration:
1. For magnetometer and gyroscope: (1) draw a figure of eight into the air, (2) make a
full turn in the two directions of each axis (6 rotations in total).
2. For accelerometer: Hold the Hub Evo for a few seconds in each of the following
positions; left side, right side, front side, back side, up side, down side.
For further explanation about the IMU orientation calibration, please refer to the following
link: https://www.youtube.com/watch?v=Bw0WuAyGsnY
5.6.1 Euler mode
Euler mode provides three classic Euler angles: heading (aka yaw), roll and pitch. Please
see figure 9 for heading, roll and pitch directions on your Hub Evo.
Figure 9. Roll, pitch, heading (aka yaw)
When enabling Euler mode, the displayed values are in degrees. Please see below the
corresponding scaling for each of the axes:
1. Heading angle (around Z axis) goes from 0° to 360°, 0° meaning North
2. Pitch rotates from -180° to +180° around x axis
3. Roll values are in the interval [-90°;+90° around y axis] and will loop twice.
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