Kalman Implementation
QuadrtrFlyr
Posts: 73
Hello,
I have a question in regards to the Kalman Filtered IMU via 5DOF Accelerometer/Gyro code.
I have the exact setup as listed in the code and am trying to read the roll angle via serial terminal and am having problems getting this angle. The readings come out very laggy and always around ~ -180...
Here is my code. Any ideas?
pin 6 on the MCP3208 (VDD as stated in manual) is connected to a 3.3V supply and pin 7 is not connected to anything. I'm not sure if pin 6 should be 5V..
Thank you!
Robert
I have a question in regards to the Kalman Filtered IMU via 5DOF Accelerometer/Gyro code.
I have the exact setup as listed in the code and am trying to read the roll angle via serial terminal and am having problems getting this angle. The readings come out very laggy and always around ~ -180...
Here is my code. Any ideas?
pin 6 on the MCP3208 (VDD as stated in manual) is connected to a 3.3V supply and pin 7 is not connected to anything. I'm not sure if pin 6 should be 5V..
CON
_clkmode = xtal1 + pll16x
_xinfreq = 5_000_000
OBJ
imu: "IMU"
Debug: "FullDuplexSerialPlus"
fstring: "FloatString"
VAR
long rollangle
PUB Run
Debug.start(31, 30, 0, 115200)
waitcnt(clkfreq*2 +cnt)
Debug.tx(Debug#CLS)
imu.start(15, 14, 13)
repeat
Debug.Str(String("Roll angle: "))
rollangle := imu.get_angle_Roll
Debug.Str(fstring.FloatToString(rollangle))
Debug.Str(String(Debug#CLS))
Thank you!
Robert