We received our IMU
Brian is busy making it talk to the Arduino board. Meanwhile, I have been working on the alignment code. The alignment proccess uses the IMU's sensors to determine its orientation (roll, pitch, and heading) while stationary. I spent the last few days writing code based upon this document
. Sorry, it's not free. Based upon the equations given in the paper, I wrote a Kalman filter that iteratively converges to the true orientation while the IMU is stationary. I wrote the Kalman code in Matlab and created a Simulink model to provide the sensor inputs. But that is as far as I got. Apparently, the student version of Simulink has a limit of 300 blocks.
So I spent all that time and was so excited to see this thing run, and I got nothing. I wanted to pitch my laptop off the balcony.
So now I need to do a bunch of work to turn complicated sets of Simulink blocks into a single Matlab block just to get the number of blocks below 300. I have also asked for a quote to upgrade to a new version of Matlab/Simulink, but I already know that is out of my budget.
I hope to upload some simulation results as soon as I get the code running.