pronenewbits / arduino_ahrs_system Goto Github PK

first of all thanks for script,
but I edited the code for my nano 33 ble and unfortunately I'm not able to compile it,
any suggestion?

Hello
Is code for the magnetometer calibration possible? I am developing a navigation app and id like to see I can improve it with custom calibration of the magnetometer. I have limited math skills and understand code better!

I am trying to make an IMU as robust as possible in a high vibration environment. Therefore, I expect acceleration sensor data to be least reliable, and I would like the filters to rely on magnetic sensors most, gyro sensors second, and least of all acceleration sensors.

Is there any place in the code where I can influence this? I have read through all the comments and found no such thing.

I implemented your code with my ICM20948 IMU
It was working but the values are updating tooo slowly.
Why? Do i need to change something?
I can send my project!!
Please help me.

Is Gyro and Acc calibrations also added to this code?
If not why?
Why only magneto?

I rewrite this in C and it works fine in mesure relative angle.But everytimes I power it off and turn it on the quaternionData was been reset to initdata. And if you don't move the IMU it won't change anymore.

Hello @pronenewbits
I want to use gyroscope and accelerometer sensors like lsm303dlh and l3gd20.
How to find the “entry point” to insert your own acceleration and angular velocity values into the code?
I get the raw data something like this:

#include <Wire.h>
#include <L3G.h>
#include <LSM303.h>

LSM303 mag_accel;
L3G gyro;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  if (!gyro.init())
  {
    Serial.println("Failed to autodetect gyro type!");
    while (1);
  }
  if (!mag_accel.init())
  {
    Serial.println("Failed to initialize mag_accel!");
    while (1);
  }
  gyro.enableDefault();
  mag_accel.enableDefault(); 
}

void loop() {

  gyro.read();
  mag_accel.read();

Serial.print(gyro.g.x);
Serial.print(",");
Serial.print(gyro.g.y);
Serial.print(",");
Serial.print(gyro.g.z);
Serial.print(",");
Serial.print(mag_accel.a.x);
Serial.print(",");
Serial.print(mag_accel.a.y);
Serial.print(",");
Serial.println(mag_accel.a.z);

}

Hi there -

May I know in the Jacobian for the output equation, where does g come from in row 1~3? Thank you!