Hello everyone, I've been visiting the website for a while and have enjoyed reading the discussions here, but this is my first official post. I am working on hovering my co-axial helicopter and decided to do this using the Propeller chip, and specifically using the Sparkfun 5 DOF IMU and Jason Wood's code which we all appreciate. To make a long story short, I downloaded the code successfully to the development board with the IMU and ADC soldered according to the circuit in the code, but I am having trouble checking whether the IMU gives me correct angle, rate, and q bias. I am using the modified FullDuplexSerial object to display the readings from the KF on the screen using the serial terminal, but I am getting various different errors. Is this the correct way to do this? I was wondering if someone who has done this before could offer any advice or procedure to check whether the IMU and Kalman Filter work. Any help will be greatly appreciated! I look forward to advancing my knowledge to keep up with you guys! -Victor
Jay, I just fixed the problem how foolish of me; I forgot to add the "IMU" so that it reads Debug.dec(IMU.get_angle_pictch). I am now able to see a reading on the serial terminal, however the number reads about -1022951427 which doesn't make sense. I believe I still have to convert the floating point to a string in order to get a number that makes sense, is this what you mean?
Hi Jay, Thanks for your input and sorry for not getting back sooner. I am using the command Debug.dec(get_angle_pitch) where get_angle_pitch is the kalman filtered angle as a float in degrees. The error I am getting when I try to run the test-FullDuplexSerial object is the computer telling me that it expects an expression term instead of the "get_angle_pitch" float variable. Should I be converting it first to a string like you suggest? If so, where exactly would I input the FloatString command that you show. Thanks in advance for your advice. -Victor
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