Hi,I am new to this forum, so I apologize if I touch on the topic that was already discussed (however I tried to do the corresponding search on the forum and did not find relevant topics).So, to the…Continue
"I sure do and would gladly share it. However it is rather large an I cannot just paste it into the post; I also do not have a WEB site to post the code. On the other hand, if you provide me with your e-mail, I will send you the whole project…"
I am working on a similar project and also on a dsPIC platform. As a first step I made sure that the attitude data coming from my implementation of the DCM algorithm is stable under a broad range of conditions (that I managed to…"
"Quads (as far as I understand) have two motors on one cross-beam rotating in one direction while two other motors on other cross-beam counter-rotate. This way you can compensate for yaw without changing the overall lift by increasing lift on both…"
I apologize for not being clear with my goal – I am not building an autopilot, but an IMU that should be able to provide orientation reference in the roll, pitch, and yaw planes. In the roll and pitch planes I would like to establish…"
Thank you again for the detailed explanation of your work!
In the IMU that I am building I would like to use the magnetic field measurement that I collect when the board is powered up as the reference vector for subsequent yaw lock…"
Could you please elaborate a bit more on your algorithm for yaw lock that you use in the MatrixPilot – I would assume that by the “known direction of magnetic field” you mean the magnetic field measurement done before the…"
In the board I am working on I would like to use 3-axis magnetometer in addition to the 3-axis accelerometer to compensate for gyro drift and achieve yaw lock. In implementing this algorithm I am following your outline as discussed in…"
This is a very interesting point! Let’s say I make measurements every 20 msec. As part of the integration of gyro rates I multiply them by the time interval, 20 msec in my case, which is equivalent to dividing the rate values by…"
I am still working on the Roll-Pitch correction piece using accelerometers; with this regards have couple of questions regarding algorithm described in the “DCM draft”.
As far as I understand, the cross product of the Z row of…"
Thank you very much for the clarification! Based upon your suggestion for Kp and Ki and given that the gravity vector translates into 3,300 units, to preserve tau = 10, I would have to set:
Kp = 0.2 / 3,300 = 6.06e-5
and Ki = 0.01 / 3,300…"
Slowly but surely I am working on my implementation of your DCM algorithm using my custom board. To simplify development I am writing a C# code on the PC using data wirelessly streamed from the board as I move it around :)
The gyro part…"
I have been reading and re-reading your very informative document "DCM IMU Theory : first draft" - I would like to use your algorithm with my board that uses Sparkfun's 6 DOF IMU Razor and 3-axis magnetometer to derive the…"