I followed this guide --> http://tom.pycke.be/mav/71/kalman-filtering-of-imu-data
And I calculate the angle based soley on accelerometer data with this method (atan2) --> http://tom.pycke.be/mav/69/accelerometer-to-attitude
Now the filter works very well, as I've tested. However, it all falls apart when I rotate my device beyond the range of -pi and pi (-180 and 180 degrees), as atan2 will return values only within this range, and thus there are large discontinuities in my data when this happens (i.e. values quickly flipping from 180 degrees to -180 degrees and vice versa).
How do people normally solve this discontinuity problem?
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