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kriswiner / EM7180_SENtral_sensor_hub

(Affordable) Ultimate Sensor Fusion Solution
https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution/
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Is Mahony included? #32

Closed EinSoldiatGott closed 5 years ago

EinSoldiatGott commented 5 years ago

Hi, my boards arrived today 👍

Kris, I have a question about the code for the MPU and BME. In the code, you have some lines related to Mahony Filter, but the EM7180 implements a Kalman (don't know more details), did you included the Mahony lines to compare accuracy? I guess this lines run on my uC and not in the EM7180 right?

"Addition of 9 DoF sensor fusion using open source Madgwick and Mahony filter algorithms to compare with the hardware sensor fusion results. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1."

Sorry, another question, Are you using the MPU9250 DMP? because I saw some lines related to, like interruptions of the DMP FIFO, are you getting the 6 axis quat from the DMP and the sending to the EM7180or jus filling the fifo with raw data?

Thanks

kriswiner commented 5 years ago

The EM7180 doesn't use the MPU9250 DMP or open-source Madgwick/Mahony algorithms. The latter are just there for comparison. I would remove all fusion done on the host in any real application.

On Tue, Jul 31, 2018 at 12:35 AM, EinSoldiatGott notifications@github.com wrote:

Hi, my boards arrived today 👍

Kris, I have a question about the code for the MPU and BME. In the code, you have some lines related to Mahony Filter, but the EM7180 implements a Kalman (don't know more details), did you included the Mahony lines to compare accuracy? I guess this lines run on my uC and not in the EM7180 right?

"Addition of 9 DoF sensor fusion using open source Madgwick and Mahony filter algorithms to compare with the hardware sensor fusion results. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1."

Sorry, another question, Are you using the MPU9250 DMP? because I saw some lines related to, like interruptions of the DMP FIFO, are you getting the 6 axis quat from the DMP and the sending to the EM7180or jus filling the fifo with raw data?

Thanks

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