search

CCNYRoboticsLab / imu_tools

ROS tools for IMU devices
Other
913 stars 428 forks source link

Pitch/Roll Yaw Dependent #81

Closed timsterc closed 6 years ago

timsterc commented 6 years ago

I am using the Complementary Filter on a custom board. Using the MPU-9255. When I examine the quaternion, it seems that the pitch and roll axes swap based on yaw. I am basing this on the InvenSense Teapot graphing routine that I have used with numerous quaternion visualizations. It works as expected when I pass the data as ENU into the Madgwick (imu_filter) implememtation in the GitHub, but behaves very strangely when I pass NWU data into the Complementary Filter.

I would appreciate any pointers, as I have paired it back to the Gyro based prediction step.

Thanks!

timsterc commented 6 years ago

Whoops - missed in the article that this is the Quaternion which represents the orientation of the global frame wrt the local frame. Took the conjugate, and all's well!