Skip to content

Calibration and IMU DLPF settings #8

Open
@csebe12

Description

@csebe12

Dear Peter,

I am working on an off-road robot that uses a gps module and the MPU9250 to navigate between waypoints. I am using your library for the MPU9250 together with this library to get readings for heading, and I'm trying to set up a PID controller to get to the waypoints. I have a couple of questions regarding this setup.

  • Do I need to calibrate the MPU9250 separately, save the coefficients and then calibrate the Fuse object as well, or is it enough to only calibrate the Fuse?

  • I have a separate thread for the imu which is continuously updated. The Fusion algorithm is run at 1.5 kHz to get better convergence, and my PID loop runs at 300 Hz. Is this setup sensible?

  • Finally, I would like to ask if you have any guidance about which low pass filter I should use on the imu.

Best regards,
Ben

Metadata

Metadata

Assignees

No one assigned

    Labels

    No labels
    No labels

    Type

    No type

    Projects

    No projects

    Milestone

    No milestone

    Relationships

    None yet

    Development

    No branches or pull requests

    Issue actions