[Accelerometer]Some question about the working principle of accelerometer

[1348686364]

The API guide said accelerometer API is for "Get current acceleration and degree of inclination."But I am confused that if the fx, fy, fz is calculated by decomposing an acceleration into x,y,z coordinates. The description of ax, ay ,az is which angles? And how to use this angles?

Furthermore, if my HEXA is going to walk, will the acceleration include the walking acceleration and gravity acceleration. Besides, how this accelerometer decompose this acceleration?

I am not good at robots’ hardware. Maybe drawing a diagram to describe the working principle of accelerometer will be helpful.

[Mingzhao.Xu]

Hi @1348686364,

If we assume that the robot is only affected by gravity so that the fx, fy, fz base on world coordinates is 0, 0, ~9.8m/s^2.
We also know the fx, fy, fz of robot coordinates which is returned from the accelerometer. Based on these we can calculate the angles difference between robot coordinates and the world coordinates.

As an example you can try this BalanceSkill.

However, it’s our problem that the description of ax, ay, az is not clear enough to understand, we will try to find a way to clarify it and update the documentation soon.

Thanks for your feedback!