Anyone know of one of these? I can't believe I haven't found any in my quick search. It looks like Arduino even supports operator overloading and templates from c++, so you could build a pretty spiffy flexible library! Alas, I'm looking for something quicker than rolling that out myself. Otherwise I'll just be building functionality as I need it :(
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If you want generic functions for doing matrix operations, then I suggest lifting them from the Sparkfun 9dof IMU DCM source code or ArduIMU or somewhere. I haven't found a downloadable library for those funcitons either.
I noticed in your previous posts that you are using an Atomic 6dof IMU. I also ordered this board almost a year ago, and so far you are the only other person I have seen using it. I am trying to implement DCM on the IMU itself and I have edited the source code to eliminate the options I dont want. It is now set to autorun, outputs in binary only with no 'A' or 'Z' characters delimiting the data, and only issues raw data when I send it a '#' character from the arduino. If you would like the modified code I can send it to you. If I ever get a fully functional DCM algorithm running on the IMU itself, I will post the source code.
The Razor 9dof DCM implementation code is already small enough to run on a ATmega168 so it might be easy to port this over. I am not quite up to this task yet, so if anyone would like to give it a try, please let me know how it turns out. In the meantime, I am going to code from scratch for arduino, then port to the Atomic IMU and run the entire algorithm on it. That way it just gives me angles and the arduino can handle navigation, control, etc.
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I noticed in your previous posts that you are using an Atomic 6dof IMU. I also ordered this board almost a year ago, and so far you are the only other person I have seen using it. I am trying to implement DCM on the IMU itself and I have edited the source code to eliminate the options I dont want. It is now set to autorun, outputs in binary only with no 'A' or 'Z' characters delimiting the data, and only issues raw data when I send it a '#' character from the arduino. If you would like the modified code I can send it to you. If I ever get a fully functional DCM algorithm running on the IMU itself, I will post the source code.
The Razor 9dof DCM implementation code is already small enough to run on a ATmega168 so it might be easy to port this over. I am not quite up to this task yet, so if anyone would like to give it a try, please let me know how it turns out. In the meantime, I am going to code from scratch for arduino, then port to the Atomic IMU and run the entire algorithm on it. That way it just gives me angles and the arduino can handle navigation, control, etc.