kriswiner
commented
7 years ago The mag calibration motion is to allow as much of the 2-pi solid angle response surface to be sampled as possible in the time allotted for mag calibration.
The Madgwick or Mahony filters are iterative so you want to iterate 4 - 6 times for each data sample to converge.
-----Original Message----- From: Tab Bennedum [mailto:notifications@github.com] Sent: October 24, 2016 10:53 AM To: kriswiner/MPU-9250 Subject: [kriswiner/MPU-9250] Sensor read rate vs. filter update rate (#81)
In the sample code, MPU9250BasicAHRS_t3.ino, it appears the sensor is read about 200 times a second, but the filter is updated on every loop, or about 10-15 times as fast. Those extra filter updates are just reusing the sensor data previous read. Is that correct? What's the idea/advantage of updating the filter more often than the sensor is being read? I'm wondering if I can cut down on the filter update rate to save some cycles for other things the MCU needs to be doing. What am I sacrificing if I do that?
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In the sample code, MPU9250BasicAHRS_t3.ino, it appears the sensor is read about 200 times a second, but the filter is updated on every loop, or about 10-15 times as fast. Those extra filter updates are just reusing the sensor data previous read. Is that correct? What's the idea/advantage of updating the filter more often than the sensor is being read? I'm wondering if I can cut down on the filter update rate to save some cycles for other things the MCU needs to be doing. What am I sacrificing if I do that?