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Re: Gyro/Accelerometer Fusion
I worked with direction cosine matrix a few years ago, it was probably one of the coolest sensor algorithms I've seen. Watching an ECU sitting on an angled piece of wood adjust pitch and roll with only a yaw input and accelerometer changes was really cool to see.
That said, I'm quite certain it's not necessary for FRC. The duration of autonomous basically allows us to forget aboout sensor drift, and resetting the sensors occasionally in between moves reduces the effect of drift even more.
My favorite FRC solution would be a encoder-gyro algorithm that can detect gyro drift, and encoder slip.
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Kettering University - Computer Engineering
Kettering Motorsports
Williams International - Commercial Engines - Controls and Accessories
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"Sometimes, the elegant implementation is a function. Not a method. Not a class. Not a framework. Just a function." ~ John Carmack
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