Final version of ArduIMU (Include Video)
After a few more tests, I now have the final version of the ArduIMU. The main problem was the calibration of the gyros: converting the raw data to degrees/s. I had to change the source code, compile it, upload, and repeat it over and over again. Totally waste of time.
So i configured Arduino to externally adjust the gyros and the accelerometer jitter filter, using the nunchuck potentiometers (joystick axis). Now it’s working pretty well. =)
Please, in the source code, ignore all the lines marked with "//(kalman)", this lines are related to the kalman filter code, those marked by "//(nunchuck) are related to nunchuck accelerometer and axis control, and all marked by "//(gyro)" are code related to the control of the gyroscope.
Another tip, all the data is processed in radians, then is converted to degrees (radian*180/PI = radians*57.295779= degrees). If somebody needs any help, please feel free of asking me.
Video:
-Yellow color = Just Accelerometer read
-Red color= Accelerometer+Gyro+KalmanFIiter
http://sites.google.com/site/jordiuavs/Home/kalman_filter_by_Jordi.txt
Labview (ground station) source code:
http://sites.google.com/site/jordiuavs/Home/kalman_filter_by_Jordi.txt
To do: -Integrate another Gyro (to make it dual axis) . -Program the SPI altimeter.
-And put all the hardware together and make it work (GPS, Altimeter, IMU, Modem).
Done: -Servo control -Gps Waypoint navigation (I’ll post later about it).
The next article I'm going to post all the links to get started with Arduino environment. All you would need to learn: tutorials, examples, references, tips and tricks. If you already know C++ it’s going to be 99% easier. If not, you are going to discover why C/C++ is the most compressive and famous language ever ;-) Then jumping to any AVR, ARM, PIC microcontroller C/C++ language environment, is going to be a lot easier, because they’re all based on the same principles.
-
Comment by Tx36 on April 24, 2011 at 5:50am -
Hello sir,
i have been looking for Kalman filter to use on my Arduino, with 3-axis acclerometer (BMA-180) and 3-axis gyro (ITG-3200)...Can you please tell me if your code here works for me?
Also what circuit connects i have to make?
I'm a beginner into this so please help..
thank you..
-
Comment by bprasanthmce on April 30, 2011 at 7:00am
-
how to convert this code for pitch roll and yaw axis with 6 dof razor imu
-
Comment by bprasanthmce on April 30, 2011 at 7:00am
-
how to convert this code for pitch roll and yaw axis with 6 dof razor imu
-
Comment by Anu Gunara on April 9, 2012 at 5:43pm
-
Hi Jordi, I have a question about your code. What is the difference between the q_m and q_bias? Is q_bias the voltage or the digital value the gyro outputs when it's not moving? I'm trying to combine a digital compass and a single axis gyro using a kalman filter, so any help that you can give me would be greatly appreciated.
Comment
- ‹ Previous
- 1
- …
- 3
- 4
- 5
- Next ›
Social Networking
Top Content
Contests
Season Two of the Trust Time Trial (T3) Contest has now begun. The fourth round is an accuracy round for multicopters, which requires contestants to fly a cube. The deadline is April 14th.A list of all T3 contests is here.
Groups
-
DIYDrones News Team
5 members
-
ArduCopter User Group
1356 members
-
Melbourne
54 members
-
Andropilot Users Group
203 members
-
Spanish arducopter Users
88 members
Advertisement
© 2013 Created by Chris Anderson.
Powered by
You need to be a member of DIY Drones to add comments!
Join DIY Drones