Yes. When estimating orientation, the gyro is fast, but drifts and the accelerometer is slow, but doesn't drift. So what I'm doing is setting the orientation every time I'm getting an acc reading and in between acc readings I'm integrating gyro samples.
On Sat, Feb 22, 2014 at 2:51 AM, Jiexin Wang <[email protected]>wrote: > 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. > -- 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.
