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Unread 22-12-2014, 16:57
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seg9585 seg9585 is offline
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Re: Best gyro for frc.

Quote:
Originally Posted by Ether View Post
Could you please provide a bit more detail?

It sounds like you were sampling the rate at 1KHz, keeping the 50 most recent rate samples in a ring buffer, and using the average of those 50 samples every 20ms to calculate a new heading. Is that correct?


Correct -- I accumulated the last 50 samples, averaged the value (divide by 50), and calculated the new heading (this means the heading is updated at 20Hz, not every 20ms).

The reason I had to do this is because the most accurate Timer I could find in the Arduino was only accurate to the nearest 1ms and this introduced significant heading error when calculating time delta, particularly at high rates.

Happy to post my code if interested.
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Last edited by seg9585 : 22-12-2014 at 17:04.
 


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