Thread: Gyro math filters
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Unread 28-04-2014, 21:42
slibert slibert is offline
Software Mentor
AKA: Scott Libert
FRC #2465 (Kauaibots)
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Join Date: Oct 2011
Rookie Year: 2005
Location: Kauai, Hawaii
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Re: Gyro math filters
You might be interested in the Nav6 open source IMU. https://code.google.com/p/nav6

It's got 3 axis gyro, 3 axis accelerometer, 3 axis magnetometer. It's also got a dedicated chip running fusion algorithms and auto calibration algorithms. Also has open firmware source that converts all that to yaw/pitch/roll/linear acceleration values. It's very accurate.

There are also CRio libraries for c++, java and Labview, and sample robot code too.

But if you want to learn the fusion algorithms and do it yourself, I recommend reading the wiki at the link above. Under Advanced Topics section, see the References page.

- scott