Open utterances-bot opened 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.
Can i get the code?
Is there any reference code?
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.
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.
Designing a Quaternion-Based EKF for Accelerometer, Gyroscope, & Magnetometer Fusion - Michael Wrona's Blog
https://mwrona.com/posts/attitude-ekf/