As far as I understand, the author of the code does not support and does not respond to requests... this is of course very bad when a person’s work is forgotten and becomes moldy.
I wanted the code and the project to continue to live and benefit others.
Hello @mikeshub! When adapting this code to the
LSM303
andL3DG20
sensors, I discovered a completely ineffective code. By reviewing the lines of code https://github.com/mikeshub/Pololu_Open_IMU/blob/e57681a01a09616f91e1404ec9a054b99002efc5/Pololu_Open_IMU.ino#L191 and https://github.com/mikeshub/Pololu_Open_IMU/blob/e57681a01a09616f91e1404ec9a054b99002efc5/Pololu_Open_IMU.ino#L277 an oddity was found in this line and replaced with the following code.and
respectively. As a result, I compiled the code into firmware and output it to the plotter, I got reasonable pitch and roll angles, but I have drift. Also, when changing the roll angle, there is no effect on the pitch angle. But when I change the pitch angle more than
80
or-80
degrees, the roll angle begins to change. I also found differences in calculating pitch and roll angles in radians based on quaternions. Source: https://github.com/mikeshub/Pololu_Open_IMU/blob/e57681a01a09616f91e1404ec9a054b99002efc5/Pololu_Open_IMU.ino#L313 https://github.com/mikeshub/Pololu_Open_IMU/blob/e57681a01a09616f91e1404ec9a054b99002efc5/Pololu_Open_IMU.ino#L319 https://github.com/mikeshub/Pololu_Open_IMU/blob/e57681a01a09616f91e1404ec9a054b99002efc5/Pololu_Open_IMU.ino#L324 My corrected code:As far as I understand, the author of the code does not support and does not respond to requests... this is of course very bad when a person’s work is forgotten and becomes moldy. I wanted the code and the project to continue to live and benefit others.