You are viewing an older revision! See the latest version

IMU

Table of Contents

  1. Hello World!
  2. Example
  3. API
  4. Library
  5. Reference

The orientation filter used in the IMUfilter library takes in linear acceleration and angular velocity values in m/s2 and radians/s, respectively, and calculates the current Euler, or pitch, roll and yaw angles. It fuses the data in such a way as to make the current orientation more accurate than if an accelerometer or gyroscope were used to calculate it separately.

The filter is ported from Sebastian Madgwick's paper, "An efficient orientation filter for inertial and inertial/magnetic sensor arrays". More information about his work can be found here

Hello World!

Import program
IMUfilter_HelloWorld - main.cpp

00001 #include "IMUfilter.h"
00002 
00003 Serial pc(USBTX, USBRX);
00004 
00005 //Change the second parameter (which is a tuning parameter)
00006 //to try and get optimal results. 
00007 IMUfilter imuFilter(0.1, 10);
00008 
00009 AnalogIn accelerometerX(p15);
00010 AnalogIn accelerometerY(p16);
00011 AnalogIn accelerometerZ(p17);
00012 AnalogIn gyroscopeX(p18);
00013 AnalogIn gyroscopeY(p19);
00014 AnalogIn gyroscopeZ(p20);
00015 
00016 int main() {
00017 
00018     while(1){
00019     
00020         wait(0.1);
00021         //Gyro and accelerometer values must be converted to rad/s and m/s/s
00022         //before being passed to the filter.
00023         imuFilter.updateFilter(gyroscopeX.read(),
00024                                gyroscopeY.read(),
00025                                gyroscopeZ.read(),
00026                                accelerometerX.read(),
00027                                accelerometerY.read(),
00028                                accelerometerZ.read());
00029         imuFilter.computeEuler();
00030         pc.printf("%f, %f, %f\n", imuFilter.getRoll(), imuFilter.getPitch(), imuFilter.getYaw());
00031     
00032     }
00033 
00034 }

Example

Coming soon...

Using an ADXL345 accelerometer and ITG-3200 gyroscope as an inertial measurement unit and filtering the data to determine the current orientation.

[Not found]

API

[Not found]

Library

[Not found]

Reference

All wikipages