About Free-IMU algorithm
Hello,
I am checking out the code of the FreeIMU and i see that there are
two ways to have yaw pitch and roll angles: one is with
"FreeIMU:
"FreeIMU:
euler angles with respect to quaternion and the other is euler only.
But when i rotate the imu on pitch axis, after +90 degrees, the angle
gets to be smaller (i.e. lets say it is actually +135 degrees but the
imu gives me +45 degrees. But its calculations are OK in the 0-90
degrees interval) This problem is look like as if there is a
singularity point but (correct me if i am wrong) i think in quaternion
we should not be effected by any singular points. Or what am i missing
here?
What is more I think i messed up the gyro-accel-
directions. Because when i move the IMU in one axis (lets say roll),
the other axis is also effected and moves at the same time (Or do you
have any other ideas about this problem?) Therefore, could you please
specify exactly what will be the values[] and their units? (i am using
ITG 3200 and placed as if it is on Freeimu then gyro x determines
roll, but in pitch(gyro y) and yaw (gyro z), the polarity of the
output will be multiplied by -1 right?(according to aeroplane rotation
order) Lastly, I am having problems with yaw angle. It is not giving
out proper angles. Do i have to calibrate magnetometer, or the raw
values would be enough?
Regards,
Fatih
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