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daehwa / Gait-Tracking-With-x-IMU-Python

This is python version code of Gait_Tracking_with_x-imu by @xioTechnologies
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Mahony and not Madgwick #2

Closed fenaux closed 3 years ago

fenaux commented 3 years ago

thanks for making your work available

In script.py line 96 a Mahony filter is initialized and used on line 98 Can you explain the reason for this choice and not a Madgwick filter as in Gait-Tracking-With-x-IMU

Thanks for you help

daehwa commented 3 years ago

Hi,

This code is a conversion of Seb Madgwick's original post (https://github.com/xioTechnologies/Gait-Tracking-With-x-IMU) in Python. As the original code in MATLAB used a Mahony filter rather than a Madgwick filter, I used it. From my short knowledge, I guess that he would have used a Mahony filter because it is more appropriate for a small processor.

About initialization in line 96 and used on line 98, this code is for the initial convergence of the sensor orientation. If you need to use this code in real-time, this initial convergence process can be done in a few milliseconds.

Regards, Daehwa