IMU values are occasionally corrupted
mikeferguson opened this issue · comments
Moved from mikeferguson/robomagellan#2:
It appears the high byte is updated, then table is read out, then low byte is updated. Need to prevent this. This is particularly bad when crossing 0 as the high byte changes from 00 -> ff and vice versa
Example sequence as seen on computer side:
-26, 249, 29
Actual sequence that should be seen:
-26, -7, 29
Plot:
It appears this is not my complete lack of mutexing (nothing that touches IMU data is outside of the main while() loop), but rather a mis-configuration of the IMU. Should be fixed by 5a6afb9