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arduino-libraries / MadgwickAHRS

Arduino implementation of the MadgwickAHRS algorithm
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Yaw drift LSM6D3S #33

Open vlsireddy opened 2 years ago

vlsireddy commented 2 years ago

Hi,

  1. I see Yaw drift with the example code. using LSM6D3S with Arduino cc.
  2. I looked at various forums and see that 9DoF using Magnetometer is used to compensate gyro.
  3. without magnetometer, the drift could be compensated by few methods. Is this already part of this library [i could not find such code]
  4. and if not, is there any reason why it is not yet taken up?

Thanks

InputBlackBoxOutput commented 2 years ago

Hi @vlsireddy, I am using an MPU6050 with an Arduino Uno. I also observe a drift in the yaw values while the roll and pitch values are pretty stable. Have you found a solution that will compensate for the drift without using a magnetometer?

vlsireddy commented 2 years ago

Hi,

The experiment required accurate Yaw. So I used a BNO055 9DoF with an Arm chip integrated sensor which does all the Algo and gives out pure values. didn't pursue Yaw drift compensation without magnetometer.

Thanks

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Hi @vlsireddy https://github.com/vlsireddy, I am using an MPU6050 with an Arduino Uno. I also observe a drift in the yaw values while the roll and pitch values are pretty stable. Have you found a solution that will compensate for the drift without using a magnetometer?

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InputBlackBoxOutput commented 2 years ago

@vlsireddy No worries. I was going through the MPU6050 datasheet and found that it has a built-in motion processor that does sensor data fusion. I'll try it out when I get the time.

Thanks!