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Fixed a bug in the AHRS fusion code that resulted in weird behaviour on inversions; it's much more stable now. Need to write a CAN comms layer and then it's finally back to actually doing stuff on the robot!

Thomas Godden

8,653 subscribers

46,490 views • 1 year ago •via X (Twitter)

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11 Comments

Thomas Godden1 year ago

I'll probably write up a quick thing on how the orientation estimation math works later, it's conceptually quite straightforward and fun to see working.

Rainmaker1 year ago

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Will1 year ago

Very smooth! How stable is the orientation over time?

Thomas Godden1 year ago

Thanks! I'm correcting based on the accelerometer so only yaw drifts. The gyro readings are off by about a degree per minute but seem stable, so calibration should help. There's a magnetometer on there, but I probably won't integrate for a bit.

A. Hariharan1 year ago

why waste time reinventing the wheel

Ilyas1 year ago

love it

thhhob1 year ago

What is the HW of this? Any (magnetic) compass included? Thinking about marine applications (boats, ...) with NMEA2K/CAN.

Joshua D Vander Hook1 year ago

What's the drift on this and how do you correct for it?

Springblade Legs for Space1 year ago

That looks super cool! I want one!🫡😄🇺🇸

Chris Shallal1 year ago

Nice! Hows the state estimation work, madgwick or Kalman based ?

Hoyer1 year ago

Reminds me of the UM7-LT. Very impressive.

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