Hello there i'm working on a project, that i use 10 DOF mpu6050 /HMC5883L/BMP180.
i want to componsat th eror of the heading so i tried to use this formula
"m for the magnet field"
float Yh = my * cos(pitch) - mz * sin(pitch);
float Xh = mx* cos(roll) + mz * sin(pitch) * sin(roll) + mz* (pitch) * sin(roll);
heading = atan2(Yh, Xh);
if (heading < 0) heading += 2 * M_PI;
i tried a lot of test but the composation stil not working properly
here it is my test
when the heading is between 250 and 300 degrees. the tilt composation works fine when i do a negative ROLL. but if a do a positive ROLL or positive and negative PITCH it does'nt composate.
when the heading is on 0 degrees, the tilt composaton works fine when i do a negative PITCH. but if a do a positive PITCH or positive and negative ROLL it does'nt composate.
is there something wrong with the formula
please help
Replies