Koala 2.5 User Manual Rev 1.1
21
4.7
Magnetometer
The magnetometer is a part of the LSM9DS0. The direction of
detectable magnetic fields are shown below:
Figure 4.9: Direction of detectable magnetic fields (TOP view)
The data format is on 16 bits, the full range is configured at +/-2
gauss.
The magnetometer data is read one by one at the same time than the
accelerometer. This means a new data is available every 100ms. If
the auto mode is activated, a packet of 3 data (X, Y, Z) will be sent at
a frequency of 10Hz.
The Magnetometer needs to be calibrated by the user to detect the
middle point of each axis. It can be done easily for X and Y axis. Place
the Koala on a flat surface, set a constant speed to turn the robot on
itself (i.e. “D,10,-10”), and retrieve all the data (enable the auto
mode).
Store the maximum and minimum value for each axis. The maximum
value will indicate the North, the minimum the South.
Summary of Contents for Koala 2.5
Page 1: ...KOALA 2 5 User manual Revision 1 2...
Page 49: ...Koala 2 5 User Manual Rev 1 1 46 7 Mechanical drawings Unit is mm Figure 6 1 Top view...
Page 50: ...Koala 2 5 User Manual Rev 1 1 47 Figure 6 2 Right view Figure 6 3 Front view...
Page 53: ...K Team S A Z I Les Plans Praz 28 1337 Vallorbe Switzerland...
