Hey Ytai, I got it. You are using sensor fusion of gyro and acc right?
Best, Jx On Saturday, February 22, 2014 5:03:57 PM UTC+9, Jiexin Wang wrote: > > Hey Ytai, > > I am trying to implement the lqr algorithm recently. Thank you very much > for the sample code. It helps a lot. > I have a question about the sensors you use, according to the code, you > mainly used gyro sensor for getting error_, errorDeriv_, and errorInt_, > which are enough for the three state variable for pid control. > But what you use accelerometer for?? why getting another error_ and > orientationX_? > And actually are the two sensors working at the same time?? how this two > sensors working in the same time domain?? > Thank you. > > Best, > Jiexin > > On Tuesday, February 11, 2014 1:38:34 AM UTC+9, Ytai wrote: >> >> It's a first order IIR filter (lowpass): >> y[n] = 0.999*y[n-1] + 0.001*x[n] >> >> >> On Sun, Feb 9, 2014 at 8:56 PM, Al B <[email protected]> wrote: >> >>> That makes more sense now. >>> >>> What about that 0.999 factor? Why do you need that? >>> >>> >>> errorInt_ = (float) ((error_ * dt * 1e-9) + 0.999 * errorInt_); >>> >>> -- >>> You received this message because you are subscribed to the Google >>> Groups "ioio-users" group. >>> To unsubscribe from this group and stop receiving emails from it, send >>> an email to [email protected]. >>> To post to this group, send email to [email protected]. >>> Visit this group at http://groups.google.com/group/ioio-users. >>> For more options, visit https://groups.google.com/groups/opt_out. >>> >> >> -- You received this message because you are subscribed to the Google Groups "ioio-users" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To post to this group, send email to [email protected]. Visit this group at http://groups.google.com/group/ioio-users. For more options, visit https://groups.google.com/groups/opt_out.
