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suhetao / stm32f4_mpu9250

Access the data of 3-axis magnetometer and DMP from MPU9250 with SPI interface, All data fusion via EKF/UKF/CKF/SRCKF algorithm
MIT License
294 stars 151 forks source link

miniIMU has some bugs #8

Open hcws opened 4 years ago

hcws commented 4 years ago

when I use your EKF is OK ，but the miniIMU mode has a bug ，when

EKF_IMUUpdate(fRealGyro, fRealAccel, fDeltaTime);

function run 133 times the X[7] values change to #QNAN . I don't know why and I hope you can give me some hints.