Framewriter is not accurately reporting or calculating rotation

aytimothy / RealityVirtualVirturalizer

Griffith University WIL ICT 2020 Trimester 1 Project | A device and software package that scans the physical world for virtual/robotics use

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Framewriter is not accurately reporting or calculating rotation #31

Closed aytimothy closed 4 years ago

aytimothy commented 4 years ago

I'm pretty sure after tossing the thing around the rotation is definitely not (0, 0, 0), even with sensor noise.

aytimothy commented 4 years ago

I'm copying the wrong values, lol.

aytimothy commented 4 years ago

The framewriter is reporting properly, but we are having problems with the IMU.

The main gist is:

Gyroscope is totally fine.
Accelrometer is basically speeding up in random directions, making it very inaccurate, or it detecting acceleration even when there is no acceleration (ie. X/Y reporting movement on top of Z in a rest position).

Would be nice if we could cheat with a pre-drivered IMU.

aytimothy commented 4 years ago

Upon further inspection, the accelerometer is just broken.

It trends towards max value, which even with a Kalman Filter, is useless. Kalman Filter relies that the sensor data does not diverge and it is just noise.