Hello,

how is the SampleRage (variable "SampleFreq") set correctly by Dr. Madgwick's IMU-Flter (http://x-io.co.uk/open-source-imu-and-ahrs-algorithms/)?

My approach:
I have measured  the frequency with an oscilloscopes (pin high / low - beginning / end of the source code) of my uC. When I insert this frequency "20Hz" into the variable, the "pitch roll yaw" measurement works very differently + slowly + accurately. Regarding the "madgwick_internal_report" the filter works with even 10Hz very well.
Now I have tried a bit and randomly entered the value = 1100 into the variable "SampleFreq" -> suddenly the pitch, roll and yaw measurements are very quiet + fast + accurate. Where does it come from?

Thank you very much

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Replies

  • Thats because the Madgwickupade-function() want Gyro-Values (gx,gy,gz) in rad/s, Not deg/s!

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