From the source code we can know the values of Clip0, Clip1 and Clip2 which increase each time one of the accelerometers reaches it’s maximum limit , Ideally these should be zero for the whole flight but low numbers (<100) are likely ok especially if they occur during hard landings.But the values of ACC of IMU0,IMu1,IMU2 does not record data that is out of range, or a value close to the range.It is a problem of sampling rate?Isn’t this a bit contradictory?The following two tables, one is the triaxial acceleration of the IMU in this flight, and the other is the value of clip0.
Self-answering series.First, the over-range phenomenon is caused by high-frequency vibration. There is a filter in the INS, you can change it in the ACCEL_FILTER in the MP. Each IMU instance will enable this filter. When I bypass this filter (not recommended!), I read a value greater than 15.5G.
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