I've made a quaternion based AHRS with bonus altitude and temperature sensing using an AltIMU-10 and an Arduino Nano. It can print out orientation in either Euler angles (heading, pitch, roll), a north-east-down rotation matrix or as a quaternion over UART serial.
Features
- 50hz update rate
- Half second warm up time. Usually it is accurate instantly if it is turned on while motionless.
- Can be calibrated for installation offset so it can be installed in position at any angle.
Of course, it is free and open source. Check it out at
Comments
Samuel, the Arduino Tre board appears to be the thing you're looking for. Problem is it's not released yet.
Samuel, thank you for share, Love your AHRS Math Post. Looking forward for part 2.
http://www.camelsoftware.com/firetail/blog/c/imu-maths/#comment-32
Actually, I'm moving away from the Rpi and looking at using Arduino / AVR controllers for the stability and autopilot functions. The idea now is to make a 'shield' that could be plugged into the Rpi GPIO or used as a (very) basic stand alone autopilot. That way the real-timeness of the Rpi becomes mostly unimportant, and additional software (for animal tracking, image recognition, ect) is free to chew up CPU and possibly even override the plane.
Nice work fella. presume that will plug into Rpi.
Inertial navigation is on the way. I'm still mulling over how to fuse GPS with accelerometers. The point is to have a navigational system that is precise, high resolution and with redundancy if either GPS of accelerometers drop out but I'm not sure what the best way to reach those design goals is yet.
How far is this from providing inertial navigation?
wow!!
really cool !!
good work man