Quote:
Originally posted by Burgabot
If it turns out to be 75 degrees/second (which I'm assuming is what it'll return if the speed is higher than that), I'll use the accelerometer data instead of the gyro data to determine the angular velocity. That way, I'll have the accuracy of the gyro at normal speeds and the range of the accelerometer arrangement at high angular speeds. Think this will work? Anything I have to watch out for?
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That sounds like it has potential. The biggest problem I see would be caibrating the two so when you switch from using the gyro to the accelerometers you're still integrating the same value. Also you'll need to build in some hysteresis so that if your velocity is right at the point of switching from the gyro to the accelerometors, you don't rapidly toggle back and forth between them. To do this, you would only switch away from the gyro if the velocity is >= 70 deg/sec, but you wouldn't switch back to it until the value fell below 65 deg/sec.