kriswiner
commented
5 years ago First of all, is this a typo?
AHRSIMU_UPDATE_MADGWICK (AHRSIMU_t * AHRSIMU, float ax, float a, float az, float gx, float g, float gz, float mx, float my, float mz)?
Where is ay and gy?
Secondly, this can't be right, since this is not in the NED convention (or ENU).
Third, the deltat is not arbitrary, it is the actual time difference between Madgwick function calls.
I would start with this https://github.com/kriswiner/MPU9250/tree/master/AK8963_as_slave, which is one of the most modern of the various sketches available.
On Fri, May 3, 2019 at 5:29 PM cwarrior777 notifications@github.com wrote:
Hi Kris, this is the second time I am writing to you, the truth is that your code is great! Beyond that, I am having problems in the convergence of the data when using the Madgwick and Mahony Filters. I tell you that I am using the code MPU9250_MS5611_BasicAHRS_t3.ino which I think is the most complete. Regarding the MCU that I am using, I started testing this code in an arduino Mega and it worked really well, with slow but acceptable changes when turning the sensor in different positions, but the reality is that I must develop this in an STM32F429 MCU, which is much more powerful (180MHz Clock) and even has FPU. The problem is that when passing the code to this new MCU (in an IDE language C, clarified I had to convert your quaternion libraries to new functions for this ide, for which, I pass the same data as you do in your code, but I also add the integration time and the beta in the data that happened to the function), the convergence time is REALLY SLOW, I'm talking about 60 seconds to reach the angle of change, which is impossible since I must use this sensor for aeronautics with relatively fast and stable changes of 2-3 ° deviation. To comment a bit on the parameters that happened to this function and making a parallel: MagdwickQuaternionUpdate (-ax, -ay, -az, gx PI / 180.0f, g and PI / 180.0f, gz PI / 180.0f, my, mx, -mz); It is the function of your ide. And the one that I converted to C: AHRSIMU_UPDATE_MADGWICK (AHRSIMU_t AHRSIMU, float ax, float a, float az, float gx, float g, float gz, float mx, float my, float mz) AHRSIMU_UPDATE_MAHONY (AHRSIMU_t * AHRSIMU, float ax, float a, float az, float gx, float g, float gz, float mx, float my, float mz) Where AHRSIMU is the entity where I keep the quaternions and the Yaw Pitch and Roll angles, this entity also has inside deltat and beta that will be used. Unlike in your program I have fixed a fixed deltat value of 0.0039 which when I try to decrease it makes the convergence time even worse, the beta that I used is 0.6 although I tried to use a beta of 0.041 (with results still slower).
I hope you can read all this and help me since I can not fully understand the mechanisms of step of integration and beta of the fusion filters I feel that I am not taking advantage of the processing power of my MCU.
I thank you, Greetings!
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cwarrior777
Hi Kris, this is the second time I am writing to you, the truth is that your code is great! Beyond that, I am having problems in the convergence of the data when using the Madgwick and Mahony Filters. I tell you that I am using the code MPU9250_MS5611_BasicAHRS_t3.ino which I think is the most complete. Regarding the MCU that I am using, I started testing this code in an arduino Mega and it worked really well, with slow but acceptable changes when turning the sensor in different positions, but the reality is that I must develop this in an STM32F429 MCU, which is much more powerful (180MHz Clock) and even has FPU. The problem is that when passing the code to this new MCU (in an IDE language C, clarified I had to convert your quaternion libraries to new functions for this ide, for which, I pass the same data as you do in your code, but I also add the integration time and the beta in the data that happened to the function), the convergence time is REALLY SLOW, I'm talking about 60 seconds to reach the angle of change, which is impossible since I must use this sensor for aeronautics with relatively fast and stable changes of 2-3 ° deviation. To comment a bit on the parameters that happened to this function and making a parallel: MagdwickQuaternionUpdate (-ax, -ay, -az, gx PI / 180.0f, g and PI / 180.0f, gz PI / 180.0f, my, mx, -mz); It is the function of your ide. And the one that I converted to C: AHRSIMU_UPDATE_MADGWICK (AHRSIMU_t AHRSIMU, float ax, float a, float az, float gx, float g, float gz, float mx, float my, float mz) AHRSIMU_UPDATE_MAHONY (AHRSIMU_t * AHRSIMU, float ax, float a, float az, float gx, float g, float gz, float mx, float my, float mz) Where AHRSIMU is the entity where I keep the quaternions and the Yaw Pitch and Roll angles, this entity also has inside deltat and beta that will be used. Unlike in your program I have fixed a fixed deltat value of 0.0039 which when I try to decrease it makes the convergence time even worse, the beta that I used is 0.6 although I tried to use a beta of 0.041 (with results still slower).
I hope you can read all this and help me since I can not fully understand the mechanisms of step of integration and beta of the fusion filters I feel that I am not taking advantage of the processing power of my MCU.
I thank you, Greetings!