kriswiner
commented
4 years ago Not sure what your issue is exactly, but the delta_t is simply the time interval between iterations of the Madgwick or Mahony filters. Typically 10
- 20 iterations per new gyro data sample is required to asymptote to stable and accurate quaternion values. What I typically do is run a do-loop after each new gyro/accel data sample.that performs this iteration 10 - 20 times in the main loop. That way there is no additional latency from other parts of the program. However, your MCU must be capable of running this fusion iteration at rates of ~2 kHz or so. So an AVR processor won;t work. A Teensy 3.2 is marginal but can work. Best is a Cortex M4F with single-precision floating point unit or better.
On Wed, Sep 30, 2020 at 8:40 AM yyui0430 notifications@github.com wrote:
Good day Sir. First of all, I would like to thank you for your amazing work on this libraries, it works perfectly fine on my real-time 3D tracking project. However, huge fluctuation on quaternion happens when I added delay function and/or when data transmission is performed between the transceiver module. I have studied your quaternionFilters.cpp and MPU9250.cpp, I noticed that the delta t parameter might be the reason of causing the quaternion data to fluctuate. Is there any way or solution to solve this issue? I am new to Arduino and MPU9250 sensor. Thank you.
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Good day Sir. First of all, I would like to thank you for your amazing work on this libraries, it works perfectly fine on my real-time 3D tracking project. However, huge fluctuation on quaternion happens when I added delay function and/or when data transmission is performed between the transceiver module. I have studied your quaternionFilters.cpp and MPU9250.cpp, I noticed that the delta t parameter might be the reason of causing the quaternion data to fluctuate. Is there any way or solution to solve this issue? I am new to Arduino and MPU9250 sensor. Thank you.