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open-dynamic-robot-initiative / master-board

Hardware and Firmware of the Solo Quadruped Master Board
BSD 2-Clause "Simplified" License
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EKF data rate #133

Open honghongzhenbang opened 1 year ago

honghongzhenbang commented 1 year ago

I am currently attempting to use alternative hardware as the master board and re-implement the master board program. I have discovered that the raw data from the IMU is at a rate of 1000Hz, and the EKF is at a rate of 500Hz. However, in the master board program, it seems that the data is being sent to the PC end at a frequency of 1000Hz. This means that only 500 of the sent data points are unique and valid, while the other 500 points are duplicates. I am unsure if my understanding is correct.

honghongzhenbang commented 1 year ago

Another question, I have difficulty finding an IMU with a magnetometer, is the project's requirement for heading accuracy high?