Ed Hasd
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# Ed Hasd's Page

## Latest Activity

"I have just received my nice new APM boards from udrones (Mexico) which arrived on fri, afternoon (Cyprus), which was great as I didn't order them until Tues. afternoon, Ditto a small cable from DIY drones. Thanks guys that is what I call…"
Mar 11, 2011
"I.S.  on 3. Is it reducible to a neat equation? This I suspect is a matter of debate. For 20 years, I've seen only two schools of thought on these kinds of problems: neatly reduced curve fitting, and lookup tables based on testing. All the…"
Mar 10, 2011

3D Robotics
"bGatti: good job on the explanation! It's perhaps the most misunderstood part of IMUs. The only thing I'd add is the GPS only gives meaningful heading information when in motion, so for things that hover or can remain stationary, such as…"
Mar 10, 2011
"@bGatti Thanks for your explanation. at point 3 you mean: ac= v^2/R = Rxw^2 right? or some other equivalent equation? at point 5 you mean use the GPS to obtain bearing? Anyway I knew about the "large" MEMS drifting, I just asked myself how…"
Mar 10, 2011
"@I.S Perhaps no topic has been more discussed to less effect here and elsewhere :) I'll have a go - but it's tricky:   1. Silicon gyros are crap. Compared to aircraft grade gyros which allow the Space Shuttle to orbit the earth a…"
Mar 10, 2011
"Could you please explain further (or redirect somewhere) about this chip not having centripetal correction?   On the other hand how good is this chip compared to stand alone gyros and accels? (in terms of vibration rejection, accuracy,...)"
Mar 10, 2011
"@bcr, One reason is to offload the engineering. If Ivensense can output rational values - that's be great. Chris's point is interesting; I guess that solid state gyros are so unstable compared to the models used in current airplanes that…"
Mar 9, 2011
"It's nice to combine the gyro + accel, but with modern MCUs I hardly see a need to offload the math. You can run a super-naive C floating point of DCM with like 5% of a \$3 STM32."
Mar 9, 2011

3D Robotics
"Yes, we discussed this last year when it was announced. It is not available now and won't be until mid-year. We've been working closely with Invensense and will be the first autopilot to use this chip. But using the built-in sensor fusion…"
Mar 9, 2011

3D Robotics
"We are just waiting for the SPI version to release the APM v2.0 around Q3-4"
Mar 9, 2011
"This owns.  I must admit I've been eagerly waiting for it, and not-so-eagerly awaiting a stupidly overpriced sparkfun breakout board :P   Does the motion processing have filters running ?"
Mar 9, 2011
"@Thomas how about the ubiquitous ﻿HMC5843? @Doug I am impressed how much ArduPilot team is involved in the industry!"
Mar 9, 2011

Developer
"That link is just for a pre-order....  InvenSense got a little ahead of themselves when they announced this a few months ago.   Ryan Beall and I have been working with Patrick Henry from InvenSense to get some good hooks built into the…"
Mar 9, 2011
"It will be interesting to see how well the fusion stuff works, hopefully someone will do some sophisticated benchmarks before I get the hardware finished! Now I need to find a decent cheapo magnetometer which hooks up easily with the IMU-6000 -…"
Mar 9, 2011
"This nice SoC was announced some time ago, but looks like it's finally on the market. A bit pricey on Farnell (even compared to its MSRP) but no doubt the chip count and board area saving are huge.   I would like to see an APM+Oilpan…"
Mar 9, 2011
Ed Hasd posted blog posts
Mar 9, 2011

## Profile Information

Student
interested in electronics and hacking stuff
developing some kind of quadrocopter as a hobby.

## Ed Hasd's Blog

### World’s First Integrated 3-Axis Gyro, 3-Axis Accel and 9-Axis Sensor Fusion

Posted on March 9, 2011 at 10:00am

InvenSense MPU-6000

I think it's perfect!

Specs:

- Tri-axis gyroscope and tri-axis accelerometer in one package

- Programmable scale ranges:

- Gyro: ±250, ±500, ±1000, and ±2000°/s

- Accelerometer: ±2g, ±4g, ±8g and ±16g

- Output: rotation matrix,…

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