search

rramprasad / imumargalgorithm30042010sohm

Automatically exported from code.google.com/p/imumargalgorithm30042010sohm
0 stars 0 forks source link

IMU integral error #2

Open GoogleCodeExporter opened 8 years ago

GoogleCodeExporter commented 8 years ago 
What steps will reproduce the problem?
1. in IMUupdate set input for gyro always = 0 (that mean use only accelerometer)
2. run the IMUupdate fast ( 500hz (halfT of 0,001 or 0,002) ) 

What is the expected output? What do you see instead?
the expected output should move only pitch and roll. instead it also move very 
much on yaw.

Solved commenting out integral correction (or setting Ki = 0)

Original issue reported on code.google.com by mombelli...@gmail.com on 1 Feb 2011 at 6:30

GoogleCodeExporter commented 8 years ago 
stupid!
  // integral error scaled integral gain
  exInt = exInt + G_Dt * ex * Ki;
  eyInt = eyInt + G_Dt * ey * Ki;
  ezInt = ezInt + G_Dt * ez * Ki;

Original comment by bouwens....@gmail.com on 3 Aug 2011 at 6:48

GoogleCodeExporter commented 8 years ago 
I'm looking at IMU's code but i can't find G_Dt. What is it?

Original comment by mombelli...@gmail.com on 5 Aug 2011 at 10:17