Question

Please help. I need to write a Python program that can display which axis is aligned with
gravity based on Accelerometer readings. This is for a quadcopter drone if that helps.

Answer 1

CONCEPT:

CODE:

import math

class DroneAxis:

    def __init__(self,base_x,base_y,base_z):

        # set the baseline reading from the

        # accelerometer to respective variables

        self.base_x=base_x

        self.base_y=base_y

        self.base_z=base_z

    # def to return the calcualated tilt in x and y directions

    def find_tilt_axis(self,acc_x,acc_y,acc_z):

        result=dict()

        # first we will find the deviation from the baseline readings

        x_val=acc_x-self.base_x

        y_val=acc_y-self.base_y

        z_val=acc_z-self.base_z

        # find the squares of the deviation calculated above

        x_sqr=x_val*x_val

        y_sqr=y_val*y_val

        z_sqr=z_val*z_val

        # calculation of x axis angle

        acc_angle_x=math.atan(x_val/(math.sqrt(y_sqr+z_sqr)))

        result['angle_x']=acc_angle_x

        # calculation of y axis angle

        acc_angle_y=math.atan(y_val/(math.sqrt(x_sqr+z_sqr)))

        result['angle_y']=acc_angle_y

        return result

# Create the object of the DroneAxis class

# Provide basline value for x,y and z axis of the accelerometer

# baseline values from the measurement when accelerometer is stationary and level

objDrone=DroneAxis(0,0,0)

print(objDrone.find_tilt_axis(12.50,21.45,35.00))

RESULT:

SNIPPET: