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kriswiner / MPU9250

Arduino sketches for MPU9250 9DoF with AHRS sensor fusion
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Madgwick update rate #280

Closed Micro213 closed 6 years ago

Micro213 commented 6 years ago

Thanks for files and support does it help to have Madgwick filter update rate at 50 khz or more? i am using ESP32, and sensor update speed seems capped at around 847hz ~, cpu is not the bottleneck for sure, can it be I2C speed?

MPU9250_SMPLRT_DIV set to 0x00 MPU9250_CONFIG set to 0x02 MPU9250_ACCEL_CONFIG2 set to 0x02

any information much appreciation to you

kriswiner commented 6 years ago

Gyro sample rate or fusion filter rate is 847 Hz?

On Sun, Jun 3, 2018 at 12:00 PM, Micro213 notifications@github.com wrote:

Thanks for files and support does it help to have Madgwick filter update rate at 50 khz or more? i am using ESP32, and sensor update speed seems capped at around 847hz ~, cpu is not the bottleneck for sure, can it be I2C speed?

MPU9250_SMPLRT_DIV set to 0x00 MPU9250_CONFIG set to 0x02 MPU9250_ACCEL_CONFIG2 set to 0x02

any information much appreciation to you

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Micro213 commented 6 years ago

gyro sample rate 847hz

fusion is really high on a separate core

kriswiner commented 6 years ago

Then I don't understand what you are asking me. If the gyro rate is 847 Hz, then a fusion rate of 10 kHz is likly overkill. I would set the number of iterations per gyro data sample as a variable and see what you can get away with. 5, 10, 50? I typically un the gyro and accel at 1 kHz and mag at 100 Hz, then fusion rate can be determined by 10 or 20 iterations of the Madgwick filter.

On Sun, Jun 3, 2018 at 12:07 PM, Micro213 notifications@github.com wrote:

gyro sample rate 847hz

fusion is really high on a separate core

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Micro213 commented 6 years ago

this is my question answered

Thanks