Help using angle estimation
Posted: Wed Mar 18, 2009 2:38 pm
Hi,
I am building a self-balancing wheeled inverted pendulum. I am using the IMU from sparkfun http://www.sparkfun.com/commerce/produc ... cts_id=741. It has ADXL330 accelerometer and IDG300 gyroscope. I am using dsPIC30F4011. I am attaching the model which I programmed into the dsPIC but it's not working properly. I have the following problems.
1. Regarding bias removal. Should I just use the value specified by the datasheet ?
2. The estimated angles are not in degrees. They keep varying always. The accelerometer angle estimation is giving a value of 65000 .. !! What should I do so that I get the values in degrees
3. The gyroscope angle estimation is also not in angles.
4. the complimentary filter does not give the same value at zero degree. !!
I just want the output in angles. What are the values I should change and how ? Kindly help me.
I am building a self-balancing wheeled inverted pendulum. I am using the IMU from sparkfun http://www.sparkfun.com/commerce/produc ... cts_id=741. It has ADXL330 accelerometer and IDG300 gyroscope. I am using dsPIC30F4011. I am attaching the model which I programmed into the dsPIC but it's not working properly. I have the following problems.
1. Regarding bias removal. Should I just use the value specified by the datasheet ?
2. The estimated angles are not in degrees. They keep varying always. The accelerometer angle estimation is giving a value of 65000 .. !! What should I do so that I get the values in degrees
3. The gyroscope angle estimation is also not in angles.
4. the complimentary filter does not give the same value at zero degree. !!
I just want the output in angles. What are the values I should change and how ? Kindly help me.