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I wrote a new function to your MPU6050.c file which gives the Cardan angles alpha, beta and gamma: Hmmm.Cardan was an italian too.complicated stuff. Since you, David, are italian, and my motorbike (where the device will be placed) is using a Cardan drive, I have used Cardan in the following as a compliment to Cardan and you. This system of coordinates defines the Tait-Bryan or Cardan angles. Instead one should relate to the object itself, to see the roll and pitch degree (the yaw remains the same however). If you are inside the object equipped with the sensor, it is irrelevent to relate to Earth-fixed origin. This means that if you roll, there will be also a DeltaY displacement too (a pitch) and viceversa. These angles are relative to a fixed origin system relative to Earth. The mpu6050_getRollPitchYaw function indeed computes the Euler angles from the quaternion. I swear I don't even know how many times a "make clean" has cleared up some weird problem of mine, but I still forget to try it! Once I ran a "make clean" and wiped out the old definitions, all was fine. The issue seemed to be with the preprocessor definitions persisting and screwing things up. Whenever I switched back to mode 0 to get raw data, it would only work for a short time.
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Codevision avr does not run in windows 10 code#
The real problem is that I compiled the code several times with #define MPU6050_GETATTITUDE 1 or 2, when I was playing around with the filters. I also thought that maybe it was because I didn't have INT0 connected, but then I realized that INT0 is only used for the DMP filter (oddly enough, my DMP filter mode works without it, though it lags a little bit). I had the EXACT same behavior as Denisas, and it wasn't due to bad connections as I suspected.
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Well, I figured out what the problem was with the random numbers that showed up after a few seconds of polling raw data. Rds = -roll -> Zd + -pitch -> Xd + -yaw -> Yd Res = -roll -> Xe + -pitch -> Ye + -yaw -> Ze to get the Euler angles to go from the rotated sensor frame to the inertial frame just negate the angles and reverse the order * Xe = Zd = inertial frame X is Z "processing" axis (rotateZ) * Ye = Xd = inertial frame Y is X "processing" axis (rotateX) * Ze = Yd = inertial frame Z is Y "processing" axis (rotateY) in case of "processing" axis are transformed to fit a better 3d view to print a 3d object on a display, we should know the display frame Rse = yaw -> Zs + pitch -> Ys + roll -> Xs rotate sensor by roll angle around sensor X axis rotate sensor by pitch angle around sensor Y axis rotate sensor by yaw angle around sensor Z axis using the aerospace sequence the sensor attitude can be obtain applying those rotations (in order) sensor quaternion can be translated to aerospace sequence of yaw/pitch/roll angles an alghotim process those values to return a quaternion that defines the sensor attitude respet to intertial frame accel/gyro/magn return values according to physic properties of the intertial frame (earth) sensor frame return values according to the intertial frame * 0d,Xd,Yd,Zd = display frame - the display system reference frame ("processing") * 0s,Xs,Ys,Zs = sensor frame - the sensor board frame * 0e,Xe,Ye,Ze = inertial frame - Earth Centered Inertial (ECI) pre notes: for this purpose i do not use math notation, sorry :) 3 - Aided Navigation GPS with High Rate Sensors 2 - An e cient orientation filter for inertial and inertial/magnetic sensor arrays 1 - Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace and Virtual Reality I will post new code next days, when i will have time to check in deep the theory. The quaternion to euler correction i've used is correct, is for aerospace sequance, but unlucky i've inverted roll and yaw, and made the typo error.Ībove the complete exaplanation (it is commented cause it will be part of the processing display code) Hello, thank you for your comment, it gives me the chance to correct my code.