michaelwro / mwrona-blog

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posts/attitude-ekf/ #6

Open utterances-bot opened 2 years ago

utterances-bot commented 2 years ago

Designing a Quaternion-Based EKF for Accelerometer, Gyroscope, & Magnetometer Fusion - Michael Wrona's Blog

https://mwrona.com/posts/attitude-ekf/

Buddhika-Deshapriya commented 2 years ago

Hi dear friend, I'm undergraduates and I'm interesting to develop a arduino flight controller with mpu9250 and bmp280 pressure sensor. I have some issues with getting angles using magnetometer sensor values. I followed some arduino libraries but I couldn't solve my issues. I am really interesting get knowledge from you to develop this project.

monishaMGS commented 1 year ago

Can i get the code?

IPlayGenji6 commented 1 year ago

Is there any reference code?

Louis-P35 commented 3 months ago

Buddhika-Deshapriya I had the same problem than you and it turns out I didn't had a real mpu9250 but a mpu6000 (or a fake copy) sold as a mpu9250. This chip has be discontinued years ago by InvenSense. Try to read the WhoAmI register to be sure.

MrMonogon commented 2 months ago

Hey, I'm fairly new to quaternions, so I could be wrong here. But I think there is an error in equation 15 in q_2_dot. I think that you accidentally multiplied the last term, instead of subtracting it.