Section 22.3 Assignment
For this assignment you are to wire up the external IMU and get data from it. You need to mount the CPX/CPB and the IMU to some sort of hard surface so that when you move the CPX/CPB the IMU moves as well. Make sure the axis of the IMU and the CPX/CPB are oriented in the same direction. With system mounted to a hard surface, perform doublet manuevers on each axis for a total of 3 doublets. A doublet is where you rotate the system to +90 degrees and then -90 degrees and then back to zero typically taking around 3 seconds for the entire maneuever. Using the accelerometer, compute the roll and pitch angle in degrees. Then use the magnetometer to compute the yaw angle. Using the roll, pitch and yaw angles, take a derivative to compute the angular velocity. Finally, take the angular velocity data and integrate it to obtain the pitch, roll and yaw angles.
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Title page with name,title and date - 5%
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Introduction with wiring diagram - 5%
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All figures must have appropriate annotations, figure captions, figure labels and a paragraph of supporting text - 10%
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Include a photo of your CPX/CPB mounted to a hard surface with the IMU on a breadboard. Be sure to explain in your description about your axis system for both sensors. - 10%
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Include a screenshot (entire computer screen) of Mu showing the Plotter open and all 3 angular velocity axes - 10%
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Include a plot of both accelerometers for the 3 doublet manuevers. - 10%
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Include a plot of angular velocity data for the 3 doublet manuevers. Also plot the derivative of the pitch, roll and yaw angles on top of this plot and add a legend to clearly indicate which is which. - 20%
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Include a plot of magnetometer data for the 3 doublet maneuevers - 10%
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Plot the roll, pitch and yaw angles in degrees from the accelerometer/magnetometer as well as the integrated rate gyro angles. Add a legend to clearly indicate which line is which. - 20%
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Appendix A - Video Details - Film yourself and your entire screen showing the acceleration and angular velocity values change in the Plotter in Mu - Pass/Fail
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Appendix B - Code used to take data and code used to plot in plain text (no screenshots) - Pass/Fail
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Appendix C - Screenshot of Excel or Sheets if applicable - Pass/Fail
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If you are asked to fix something in the Appendices such as missing content in your video or screenshots of your code, you will lose 10% of your grade everytime you submit an update after the deadline.
