http://vimeo.com/10887900
My preliminary observations are that the output converges onto the accelerometer settings too quickly. This in-spite of the 1G vector magnitude guard in the code.
Can someone explain to me the relationship between the Ki and Kp to the tuning. I have some idea of what they do but am not sure how they interact with each other.
Thanks,
Daniel Wee
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As you can see there is a lot of noise. If you right shift it 4 times, you remove a lot of noise but you keep the ADC resolution of 10bits. (so around 1°/s).
On the yaw there is no correction and after a flight of 10 min, it was drifting at a speed of 1°/s.
I also tried to put a motor close to the IMU to generate noise and in static conditions the yaw drift is very important
(X unit is 100ms so the total experiment length is 100s)With a Kalman filter (of DCM which is use in ArduIMU) of course you can made it but if you don't rely on acceleros for 10s I am not sure you will manage to have a correct angle estimation.
Loris