EKF for a 9-DOF IMU on a RISC-V MCU

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Extended Kalman Filter calculation was carried out by the MCU, calibration was done using python.

Huge thanks to the author for sharing his awesome work:

His youtube channel:
  1. Hien Vu
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Комментарии
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Hi, thanks this is great! Do you have a repository where you could share codes/documents? the link you provided is apparently down. I would like to use similar concept for my projects and what you've done seems very relevant- thanks again!

alexmore
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I'm using raw angles instead of quaternions to set the virtual cube's attitude and i have a problem. I'll explain it as good as i can.
It works if i do simple rotations but not when i do the following:
When i yaw left 90°, pitch up 90°, roll right 90°, and pitch down 90°, I'm physically back in the same attitude but my yaw and roll are 90° off.
I understand why it happens but i don't know how to fix it. I think it can be solved with quaternions but I'm not good at them.

Keep in mind it's a very basic program, nothing like yours. I'm turning angular acceleration into angular velocity which turns into angle which gets sent to the virtual cube.

MahBor
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What is the resolution of this sensor in deg angle

ASTROindi
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