6DOF IMU

From Gluonpilot

The first version of the gluonpilot IMU is finished! I decided to use quaternions because it's just so darn easy! As you can see from the video, there are no "dark spots" (aka gimbal lock) in it's attitude. I'm just moving it randomly in every direction. Yaw is drifting a tiny little bit, because there's no magnetometer to compensate. Still not bad I'd say! Must be good enough to keep a funjet, easystar or quadrocopter in the air :-) As you see, I added a graph window to the configuration tool. Very easy for debugging and finetuning! The OpenGl-window that shows the attutide is also included in the configuration tool, but that's only eye candy to be used in promotion videos ;-) Code for the firmware + C# configuration tool will follow soon!

— Tom (talk) • 19:18, 1 January 2010 • no comments