Brett Smith
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  • Pleasanton, CA
  • United States
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Brett Smith's Discussions

Magnetometer Tilt Compensation Tutorial + Sensor Analysis

Started this discussion. Last reply by Yury Matselenak Aug 30, 2015. 16 Replies

Hello All!I have searched far and wide for a good tilt-compensation algorithm, and a decent tutorial  to accompany it. I have read application notes and looked at lots of source code, but I never…Continue

Tags: tutorial, sympy, tilt, compensate, compensation

LSM303DLHC Magnetometer Help! POLOLU IMU

Started this discussion. Last reply by Bot Thoughts May 16, 2013. 2 Replies

Hello All,I have been working on an propeller based autopilot for a while now, and things have been coming along great. Although I was nervous about the lack of interrupts, the faster speed and…Continue

Tags: propeller, parallax, DCM, LSM303DLHC, IMU

Sensor Noise

Started this discussion. Last reply by Jay D Oliver Feb 4, 2013. 2 Replies

Hello All,I am working on my first drone, using an E-Flite UltraStick. So far the build has been going well. I developed a system for switching between radio and arduino control. I am working on…Continue

Radio/AutoPilot Switching Difficulty

Started this discussion. Last reply by Jake Stew Jul 18, 2012. 1 Reply

Hello All,I am working on my first drone using a E-Flite UltraStick. I have built up my code for retrieving data from accelerometer/gyroscope, and have constructed PID loops to set the plane to the…Continue

 

Brett Smith's Page

Latest Activity

Yury Matselenak replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Brett Smith, See my program for magnetometer calibration on diydrones too:…"
Aug 30, 2015
Phillip Schmidt replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Your equations [15] and [20] look fine at a quick glance. I have no idea what you're doing in [17], [18], and [19].  Here's some things that may be helpful (or maybe painfully obvious): V_mag,inertial = M_rotation…"
Feb 16, 2015
Brett Smith replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Hey guys, it has been a while since I worked on this. I am glad other people are looking at it. I struggled for a long time with magnetometers, and really could not find any decent explanation on why the rotation matrix is constructed this way. Were…"
Feb 16, 2015
alex p replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
":)   fwiw, I think i got it working in my project, using the DMP: https://github.com/kolosy/ArduSailor/blob/master/firmware/ahrs.cpp"
Feb 16, 2015
Andrew Crandall replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Not enough coffee, apparently. My transformation is most certainly wrong. "
Feb 16, 2015
alex p replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"What makes you say that? The signs defined on the accel / gyro vs the mag are the same for x and y, and different for z. You're changing all 3."
Feb 16, 2015
Andrew Crandall replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Apologies for digging up an old thread, but I just started working with the MPU-9150 and I also needed to rotate the magnetometer readings into the accel/gyro frame.  I think switching the x and y values and changing the sign on the z is not…"
Feb 16, 2015
Brett Smith commented on Jonathan Meringer's blog post Scout Drone - Video Update
"Shut up and take my money"
Nov 8, 2014
Brett Smith commented on Lester Haines's blog post Results in from Vulture 2 avionics stratospheric test flight
"I was under the impression that most off the shelf GPS units do not work at this altitude, but obviously this is not the case. Do companies (like ublox) put any firmware restrictions so they do not operate at certain altitudes/velocties???"
Nov 8, 2014
Daniel Dipalma replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Thanks for that link SM. I too had the same issue with the old magnetometer. Someone suggested me to try implementing the full tilt-compensation but I was not that familiar with the full tilt procedure. But now it’s clear. I think the issue…"
Oct 8, 2014
Bot Thoughts replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Ongoing discussion on hard- and soft-iron calibration: http://diydrones.com/forum/topics/magnetometer-soft-and-hard-iron-calibration"
May 19, 2014
alex p replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Looks like my problem was a faulty sensor. Also - I'll add it here for posterity. I used the MPU's DMP features to get the quaternion + roll angles, and then the FreeScale application note to perform the tilt compensation. In that case, I…"
May 13, 2014
alex p replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Did you get anywhere with this? I'm using the same sensor, and having what I think is a similar issue. The difference for me is that I've got the DMP working, so that's how I'm getting my quaternion values. My tilt compensation…"
May 12, 2014
SM replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Yes, if you are interested. I discuss this problem here. I think that it is tricky question, but can not figure out what is wrong..."
May 9, 2014
Brett Smith replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Hmm, my tilt-compensation looks exactly the same: //My Math: Rotation Matrix from body frame to vehicle 1 frame magComp[0] = (magVector[0]*cosPitch) + (magVector[1]*sinRoll*sinPitch) + (magVector[2]*sinPitch*cosRoll); magComp[1] =…"
May 8, 2014
SM replied to Brett Smith's discussion Magnetometer Tilt Compensation Tutorial + Sensor Analysis
"Yes, for now i use Mahony quaternion filter to estimate the orientation of my sensor relative to the global coordinate frame. To get tilt-compensated magnetometer readings i extract euler angles from my quaternion and then use them to level the…"
May 8, 2014

Profile Information

About Me:
I am studying Mechatronic Engineering at Chico State, and work at Tesla Motors in Fremont.
Please tell us a bit about your UAV interest
There is something awesome about giving an inanimate object autonomy...
Hometown:
Pleasanton

Comment Wall (1 comment)

At 2:27pm on July 19, 2012, Bob Jones said…

Hi Brett

Sorry but one of the Aeroquad guys snatched everything up.

Sorry.

Regards Bob.

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