Sensor-fusion

[takujin3]

What we need to do is put Joe's code and take Travis' library out of the firmware.
It also needs some configuring and testing to see if it works.

[DocSunset]

Just curious where I may review Joe's code to compare with my own. There may be simpler solutions than throwing out my sensor fusion and calibration code.

[malloch]

@DocSunset https://github.com/malloch/Arduino_IMU (on GitHub since 2013)

[malloch]

Looking at the firmware in this repo, the magnetometer gain k_m is initialized to zero (IMU.ino line 13) so no big surprise that azimuth is not calculated properly!

[DocSunset]

Thank @malloch. I believe the magnetometer is initially turned off because the sensors we were using last time I looked at this firmware were worse than useless unless calibrated beforehand (e.g. causing severe yaw drift due to sensor bias). My python scripts for calibrating the sensor have some severe usability shortcomings though, and are possibly just generally broken as I last left them in the middle of some extensive refactoring... if/when I get a T-Stick running in France I plan to revisit them and get things working properly.

[takujin3]

Hello @malloch @DocSunset ! Let me know whenever you made some improvements on this issue. It would be great if the problem could be solved by the end of September or so since I am wondering to use the yaw data during the workshop planned for Fall 2022 and/or Winter 2023. Thanks for your work!