Originally Posted by Tom Frisch
Thanks for your answers. I was hoping to build something very similar to what you are doing, so maybe I can help out.
How are you combining the gyro and accelerometer data?
Are you planning on adding support for a compass/mag sensor?
I am back
gyro/acc is combined with one simple line, something like:
roll_angle =(roll_angle + ROLL*dt) + 0.0002*(acc_roll_angle-roll_angle);
- roll horizon in radians.
- roll gyro data
- program loop time (0,002s)
- accelerometer "weight" constant
- accelerometer horizon in radians.
compass/mag would be nice, but it is not most important thing to do at this time
correctly calibrated gyro drifts few degrees/min or even less, so it is fine even with gyro.