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bjoerngiesler / BBDroids

Code for the Bavarian R2 Builders' Droid Control System, consisting of dual miniature multi-axis remote controls and a droid control board, currently for BB-8. Please refer to the Wiki for reference.
Apache License 2.0
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Test / verify AHRS using body IMU #16

Closed bjoerngiesler closed 1 year ago

bjoerngiesler commented 1 year ago

Right now the absolute rotation values reported by the body IMU are very slow. That is most likely a bug in my usage of the Madgwick filter / IMU updates. This is dependent on the 100Hz initiative, as the IMU spits out data at 104Hz; doesn't make much sense to tackle before that is fixed, but has highest priority directly after, as this is super crucial for smooth control (or even keeping the dome on :-) ).

bjoerngiesler commented 1 year ago

image Works at 100Hz. Still need to check what it does at lower Hz rates to completely understand what's going on here.

bjoerngiesler commented 1 year ago

image Strangely it works at 40Hz too. Huh. Must be a bug I'm doing in the servo code. Closing this ticket.