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tcleg / Six_Axis_Complementary_Filter

Platform Independent 6 DOF Complementary Filter
MIT License
47 stars 14 forks source link

Add yaw support (z angle support) #4

Open vipinbb opened 8 years ago

vipinbb commented 8 years ago

Hi, Very nice library. Is it possible to add yaw support to this library. Thanks, Vipin

tcleg commented 8 years ago

Hi vipinbb,

Sure, you could add it in. With the help of a magnetometer, that will add the final reference point, the magnetic field vector, that will make the library into a Nine Axis library and give it the ability to use yaw measurements.

At the moment, the only reference point is provided by the accelerometer and that is the gravity vector. The X and Y axes can be determined based off of that single reference and allows for determining pitch and roll. The gyroscope doesn't really add anything other than accuracy to the measurements.

The math is a little intense, I must admit. It may be more beneficial for you to use Texas Instrument's generic Nine Axis Complementary Filter library that they use for their Tiva C line of microcontrollers. It uses a different algorithm called Direction Cosine Matrix (DCM) that should work just as well. It's written in C but should work all the same.

The guide at the hyperlink below mentions the DCM module in Chapter 7. http://www.ti.com.cn/cn/lit/ug/spmu371/spmu371.pdf

Feel free to check it out!

On Wed, Jun 15, 2016 at 3:50 PM, vipinbb notifications@github.com wrote:

Hi, Very nice library. Is it possible to add yaw support to this library. Thanks, Vipin

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/tcleg/Six_Axis_Complementary_Filter/issues/4, or mute the thread https://github.com/notifications/unsubscribe/AGUaKdRVRlY0UKWLiW5UUn_p59SK6iQIks5qMGWwgaJpZM4I2x8p .

-Trent Cleghorn

vipinbb commented 8 years ago

Thanks for the resource and explaination. I am using the mpu9150 which has the 9axis implemented. I will see how I am able to add yaw functionality into your library based on the mag sensor.

Thanks again, Vipin

tcleg commented 8 years ago

Best of luck!

On Thu, Jun 16, 2016 at 5:32 PM, vipinbb notifications@github.com wrote:

Thanks for the resource and explaination. I am using the mpu9150 which has the 9axis implemented. I will see how I am able to add yaw functionality into your library based on your explanations.

Thanks again, Vipin

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/tcleg/Six_Axis_Complementary_Filter/issues/4#issuecomment-226633091, or mute the thread https://github.com/notifications/unsubscribe/AGUaKbqZMlaVaCKz2H6o8xrc9kse4z8rks5qMc8BgaJpZM4I2x8p .

-Trent Cleghorn