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va3wam / TWIPe

This repository contains the embedded code used for the TWIPe robot
MIT License
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Boot up on belly #17

Closed va3wam closed 4 years ago

va3wam commented 4 years ago

Right now the robot needs to boot up while lying face down or the Roll (x) data is nonsense. We need to sort out what is going on here. Andrew speculates that this may be related to gimbal lock and the fact that we are using Yaw/{itch?roll data from the MPU6050 DMP. There are other options which avoid gimbal lock which we could look at using.

va3wam commented 4 years ago

We have confirmed that the GY521 board cannot have the Z axis facing downward during boot up. If this happens then you get incorrect non zero angles. With the current header pins orientation of the GY521 board this is precisely what we end up with. To fix this issue we are going to change the soldering of the pins on the GY521 board. this will mean that the GY521 board will be sticking out and unscrewed down with the SB7 PCB. We will do this in the interest of progress and fix this in the next PCB design.

va3wam commented 4 years ago

See also issue 32