I am currently trying to make a self balancing robot. Making good progress but stumbled across an issue.
My gyroscope readings do not return to zero if I return in to its original position after random rotations around all 3 axes. Meaning rotation when all angles are not zero.
I am confident this issue is not caused by accuracy of the numerical integration as I have tried jerking the sensor incredibly hard around 1 axis, yet it still returns to 0 when rotated back.
I managed to get the gyro to return to zero when rotating around 1 axes when 1 angle is not zero. Meaning if Y is 45, and I rotate Z 90 degrees, I can transfer the Y angle to X, and once I return all angles back to zero individually, I can return to the original position. I've done this for all 3 pairs of angles (XY, XZ, YZ) and tried to add all 3 equations but the end result does not zero the gyro.
Anyone know any resources that I can look up on, or any idea of what the solution could be? Any help is appreciated.