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Originally Posted by Biff
As I understand what's going on in Keven's code it's like this. The process takes over the A/D, and at regular (that's the key) intervals reads the gyro chip and adds or subtracts from an accumulator. From there you can get heading. This may be a large over simplification and is a I understand the process, Kevin really has the skinny on how it works. I suggest you read his read me, notes on the process.
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it's not really an oversimplification, it's actually one of the best approximations you can get. He does a midpoint approximation of the actual integral by averaging the current and last values, then multiplying by the change in time and adding it to the accumulator. You learn to do this in any basic calculus class.