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Originally Posted by marccenter
Did you work some new magic in the new 01/30/05 software release...
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No, not really. In the earlier code/readme.txt, I documented a way to integrate the bias over a longer period of time and then set the bias using Set_Gyro_Bias(). The latest code just automates this process. The real magic will come when I get a Kalman Filter integrated into the code.
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Originally Posted by marccenter
...or do you think the 1600 Hz, samples = 64 is what made this work?
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Probably both. The new code, out-of-the-box, does a much better job of calculating the bias. Sampling at a higher frequency and down sampling with more samples also helps. I'd advise setting the sample rate to be as low as possible while still getting the performance you need.
-Kevin
There are simply not enough words to say how much the contributions of Dave and Woodie have given to FIRST, and countless students across the world. - Libby K [more] 
08-02-2005, 12:34
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