Comment by Rui Manuel Cravo Marques on July 27, 2012 at 1:39pm

Well, this is excellent news and will boost the APM2 value and long term usability for sure:) congratulations for your well done negotiations with Invensense.

Comment by Hamish on July 27, 2012 at 3:45pm

Jumbo news, it's been a year or more since people got excited about the DMP but couldn't use it.

Comment by Harry on July 27, 2012 at 8:30pm

I dont even know what I'm looking for on that site.  I agreed to something and then the downloads were nothing but .pdf .  I need the code that  will replace mpu_read(), read_adc_raw(), HMC5883_read(), HMC5883_calculate(pitch, roll) and not need all kinds of low level tricks. 

Comment by Scott Thompson on July 28, 2012 at 11:49am

I'm a fan of using the DMP fusion algorithm and started in quads with the intent of using a CH Robotics' CHR-UM6 with a PIC32.  APM 2 came out with even more functionality than what I could install on my real estate and did it in a smaller package, so APM2 was a no-brainer, and cheaper.  Implement DMP and I'm back to my original dream of using the "fusion" processor (extended Kalman filter?) to free-up the APM2.  I welcome this with open arms and am thrilled that an agreement between open source community and Invensense has been reached.  If this means I just register as a developer, so be it...  Cheers!

Comment by Yogesh Girdhar on July 30, 2012 at 8:12am

Crispin, I am assuming DMP does motion integration at a much much faster rate than what can be done off-chip. Hence the DMP solution is likely to be much more accurate. 

Comment by Crispin on July 30, 2012 at 8:15am

I accept that off-loading the work from the main processor would be a good thing in the broader sense. Not knowing anything about how "sensor fusion" works, I guess the (rhetorical) question is: Are there good ways and bad ways to do it? Could Invesense put a method in that is "just ok" but being a black box, we would never be able to change it.

3D Robotics Comment by Chris Anderson on July 30, 2012 at 8:18am

Crispin: Yes, that's possible. In our testing so far, the DMP performed about as well as the DCM, but until we can fully implement (which we are now doing), we won't be able to properly test them head to head to know which is really better in our applications. 

Comment by Crispin on July 30, 2012 at 8:24am

Thanks Chris. I'll just wait (patiently) for the boffins to get on with it then ;)

It'll be interesting to see how it pans out. 

Comment by Greg Fletcher on July 30, 2012 at 8:31am

Does the mpu6000 talk to the mag directly over I2C, and if so how do the mag offsets get incorporated?

3D Robotics Comment by Chris Anderson on July 30, 2012 at 8:36am

Greg: via SPI. We do mag/GPS sensor fusion externally and send offsets back into the MPU-6000 via Accel bias factors.

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