Compatibility with the Analog Devices Gyros

[duane]

> it does not currently do magnetic disturbance rejection

Can you elaborate on the ramifications of not doing "magnetic disturbance rejection"?

Thanks,
...Duane

[Peter Johnson]

Originally Posted by duane

Can you elaborate on the ramifications of not doing "magnetic disturbance rejection"?

The magnetometers in the device sense magnetic fields and are used in the Kalman filter to stabilize the gyro and derive a magnetic heading. Not doing disturbance rejection means that strong magnetic fields (such as those caused by motors) will result in incorrect heading readings.

[billbo911]

Originally Posted by Peter Johnson

The magnetometers in the device sense magnetic fields and are used in the Kalman filter to stabilize the gyro and derive a magnetic heading. Not doing disturbance rejection means that strong magnetic fields (such as those caused by motors) will result in incorrect heading readings.....

..... The ADIS16448 driver has a Kalman filter implementation but it does not currently do magnetic disturbance rejection (patches to fix this would be welcome).

Do you know if these patches are currently under development? It would certainly be nice to have them.

[duane]

So, what does that mean for us using these devices with C++? Can you elaborate on what interfaces will be useful and which will not? Or is using this device in C++ just not going to be useful?

In short, should we bother using the ADIS16448 IMU with C++? If so what can we use reliably?

I'm certainly not qualified to add the compensation needed for these devices.

Thanks

[RufflesRidge]

Originally Posted by duane

In short, should we bother using the ADIS16448 IMU with C++? If so what can we use reliably?

Using the gyro readings alone should be fine. If you want to try using the Kalman derived heading, you should mount the device as far away from motors and moving steel as possible then test heavily to see how it performs, especially driving around steel like most of the field this year.

[duane]

Thank you!