Using the accelerometers only is not accurate for homing because when the arm rotates to home, a centripetal force is measured by the accelerometer. This messes with the accelerometer's sense of "down" and its sensed orientation.
We can fix this by incorporating the gyroscope readings into the measured orientation. Using a complimentary filter, we can combine the acceleration and gyroscope measurements into a single, accurate orientation reading.
This will also be useful if we later use IMUs to sense the orientation of rovers and possibly suspension.
Using the accelerometers only is not accurate for homing because when the arm rotates to home, a centripetal force is measured by the accelerometer. This messes with the accelerometer's sense of "down" and its sensed orientation.
We can fix this by incorporating the gyroscope readings into the measured orientation. Using a complimentary filter, we can combine the acceleration and gyroscope measurements into a single, accurate orientation reading.
This will also be useful if we later use IMUs to sense the orientation of rovers and possibly suspension.