LSM9DS1 A 9 degree of freedom Inertial Navigation Chip

AGmagtest1.js

The attached program AGmagtest.js uses the LSM9DS1.js module and the preceding calibrations to produce data in engineering units.

The variable autocalc controls the type of units displayed.

//autocalc 0=raw, 1=raw-offset, 2 Engineering Units
var autocalc=2;

In the function setupAG() the gyro ODR determines if gyro data are available.

W.AGwrite(W.REGval.ODR_G,1);//do gyro and acceleration
//W.AGwrite(W.REGval.ODR_G,0);//do acceleration only.

Here is sample output with autocalc=2 and ODR_G=1

M magnetometer values are in Gauss,
G gyroscope values are in degrees per second
A acceleration values are in g, (1= Earth gravity)

M,0.0150,-0.0847,-0.1949,G,0.3582,-0.105­7,-0.1222,A,0.0839,-0.0478,0.9993,
M,0.0172,-0.0830,-0.1933,G,0.3358,-0.158­1,-0.1297,A,0.0869,-0.0552,1.0039,
M,0.0172,-0.0830,-0.1933,G,0.3433,-0.165­5,-0.1297,A,0.0841,-0.0479,1.0000,
M,0.0172,-0.0830,-0.1933,G,0.3807,-0.105­7,-0.1222,A,0.0831,-0.0438,0.9987,
M,0.0151,-0.0866,-0.1965,G,0.4031,-0.210­4,-0.1222,A,0.0817,-0.0398,0.9956,
M,0.0151,-0.0866,-0.1965,G,0.3807,-0.083­3,-0.1222,A,0.0821,-0.0416,0.9960,
M,0.0151,-0.0866,-0.1965,G,0.4031,-0.187­9,-0.1147,A,0.0831,-0.0460,0.9991,
M,0.0162,-0.0845,-0.1933,G,0.3732,-0.098­2,-0.1446,A,0.0822,-0.0459,1.0009,
M,0.0162,-0.0845,-0.1933,G,0.3059,-0.113­2,-0.1297,A,0.0834,-0.0461,1.0031,
>clearInterval();

Changing ODR_G to 0 produces:

M,0.0154,-0.0826,-0.1849,A,0.0864,-0.051­6,1.0014,
M,0.0154,-0.0826,-0.1849,A,0.0868,-0.053­7,1.0017,
M,0.0154,-0.0826,-0.1849,A,0.0858,-0.054­9,1.0009,
M,0.0154,-0.0826,-0.1849,A,0.0862,-0.056­7,1.0032,
M,0.0154,-0.0826,-0.1849,A,0.0861,-0.059­4,1.0028,
M,0.0154,-0.0826,-0.1849,A,0.0852,-0.059­8,1.0009,
M,0.0154,-0.0826,-0.1849,A,0.0883,-0.060­1,0.9992,
M,0.0154,-0.0826,-0.1849,A,0.0877,-0.057­4,0.9964,
>clearInterval();

1 Attachment

• AGMagtest1.js