Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Create Example11_DMP_Gravity_Oriented_Accelerometer.ino #73

Open
wants to merge 1 commit into
base: release_candidate
Choose a base branch
from
Open

Create Example11_DMP_Gravity_Oriented_Accelerometer.ino #73

wants to merge 1 commit into from

Commits on Jun 11, 2021

  1. Create Example11_DMP_Gravity_Oriented_Accelerometer.ino 

    As discussed with @PaulZC, this file rotates the raw accelerometer data using the Quat6 quaternion. An intialisation finds "down" and this is stored to allow the sensor to orient so that reported acceleration values are Up/Down, "N/S" and "E/W" in the external world frame.

I've set the sensor scale to 16g; if these values are exceeded then the quaternion loses it's lock. There is a routine that can be enabled to continuously correct the sensor to re-find gravity, but this is disabled by default.

I wrote this using an openlog artermis but it should be device independent  - any issues, please let me know!

Jon
    @higherstateofawkwardness
    higherstateofawkwardness authored Jun 11, 2021
    Configuration menu
    Copy the full SHA
    a4b5ebc View commit details
    Browse the repository at this point in the history