Read data from the IMU - gsilano/crazyflie_nmpc GitHub Wiki

For retrieving the data from the IMU use:

$ roslaunch crazyflie_controller imu_feedback.launch uri:=radio://0/80/2M/E7E7E7E7E7

Note Acceleration: Be careful with acceleration data. Assuming that the Crazyflie is placed in its neutral right-side-up position on a flat surface you will:

• Measure +9.81 meters per second squared for the Z axis.
• If the sensor is rolled +90 degrees (left side up), the acceleration should be -9.81 meters per second squared for the Y axis.
• If the sensor is pitched +90 degrees (front side down), it should read -9.81 meters per second squared for the X axis.