#ifdef OUTPUT_READABLE_WORLDACCEL
#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
I want to ask that what is the unit of above aaWorld values ? I understand that if i need to get the acceleration without gravity i need to use these values , but the values that we get from these are in m/s^2? or do i need to do something acc_in_ms2=(aaWorld.x*9.8)/16384.0 ? or something else.
my offset are as follows
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(6);
mpu.setZAccelOffset(1262);
and my output is as follows without doing any changes in code provided after 10-15 sec (the sensor is horizontal)
aworld 0 28 60
aworld -1 29 40
aworld 5 29 33
aworld 6 24 20
aworld 2 23 22
aworld -4 13 26
aworld -6 11 28
aworld -10 11 30
aworld -15 5 38
aworld -7 -1 36
aworld 7 -4 37
aworld 7 0 33
aworld 4 5 29
aworld 0 2 30
aworld -3 -7 35
seems coreect all the values converging to zeros..
but when i move the sensor in one direction , i get totally unexpected values..
aworld -415 -306 304
aworld -505 -277 318
aworld -577 -270 399
aworld -587 -207 265
aworld -572 -166 63
aworld -589 -200 -28
aworld -631 -258 -7
aworld -638 -292 30
aworld -637 -334 29
aworld -647 -404 -23
aworld -640 -483 -75
aworld -611 -542 -72
aworld -633 -503 -24
aworld -723 -344 17
aworld -816 -125 36
aworld -908 72 1
aworld -988 241 -45
aworld -1015 378 -68
I am moving the sesor only to and fro in one direction but i am getting these values
Why so?
please help if you have any information /knowledge about this...
I want acceleration mithout gravity affect in m/s^2
