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I had found that there is a delay(a few seconds) in the convergence of the heading quaternion when the IMU is moved randomly or fast. So I have ported the sensor fusion part of your code(the for loop …
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MPU9250/quaternionFilters.ino at line 177
// Integrate rate of change of quaternion
pa = q2;
pb = q3;
pc = q4;
q1 = q1 + (-q2 * gx - q3 * gy - q4 …
g-yvr updated
2 years ago
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analytical() rotates the initial quat according to R_initialOrientation. Kalman, Madgwick and Mahony all appear to initialize to zero quat-vector. Is it possible to initialize these 3 functions analog…
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Dear NicoChou.
Thank you for the great matlab code for EKF_AHRS.
I have been studying EKF_ARHS, and found your code.
https://github.com/NicoChou/ESKF-Attitude-Estimation/blob/master/EKF_AHRS.m
…
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Dear,
I'm a highschool student, and I have to make a robot as a final exam project.
I'm in charge of the robot's orientation & Bluetooth transmission.
So, in oder to perfom that task, we bough an…
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Hello!
I have a uINS rugged module mounted on my ground vehicle ([like so](https://i.postimg.cc/2jThrq3J/PXL-20220222-010554408-2.jpg)) and I am having trouble getting the absolute orientation from…
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Hi, i modify and run the code of the sketch of kriswiner, and i have the problem what when i rotate the IMU (i use the MPU9250 and Arduino Pro mini 3.3 volts 8 Mhz) about one axis angles obout the ot…
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Hello, I would like to ask that how to get the bias of Acc and Gyro? I'm not really sure for that......
I let the IMU be flat on the table with Z-axis toward up, and then I get the average value of 10…
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Hello Kriswiner, Thank you for your code and help!
I have a question about the magetometer calibration. How to move the sensor in a figure"8" pattern? Is it put the sensor horizontally on a table an…
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Kris,
Thanks for all your work on this! Quick question - what if the quaternion output order for the Madgwick or MahonyQuaternionUpdate. Is q1==w or does q4 ==w?
``
norm = sqrt(q1 * q1 + q2 * q2…