[Dprglist] Assisting PID odometry with an IMU

[Murray Altheim]

On 23/01/21 12:17 pm, markus wrote:
> Hi Murray,
> 
> attached is the madgwick algorithm which I found to perform quite well
> for these issues. There is an alternate approach published from
> Brokking (of balancing robot fame) which you'll find on his website. In
> my experiments the madgwick algorithm performed better and was easier
> to tune. Also, it uses quaternions so there's the "cool" factor as well
> ;)
Hi Markus,

Thanks very much for the tip, I'll have a look at the Madgwick code. I'm
already using a Python Quaternion library in my BNO055 class so I have
some (limited) familiarity with how they work:

   https://github.com/ifurusato/ros/blob/master/lib/bno055.py

As part of my experimentation I'll go ahead and port the Madgwick C
code (which looks relatively straightforward, works as a filter?) to
Python and post a reference back to this list.

...and as Carl mentioned, I look forward to seeing what others in the
DPRG have done to handle this kind of issue.

Cheers,

Murray

...........................................................................
Murray Altheim <murray18 at altheim dot com>                       = =  ===
http://www.altheim.com/murray/                                     ===  ===
                                                                    = =  ===
     In the evening
     The rice leaves in the garden
     Rustle in the autumn wind
     That blows through my reed hut.
            -- Minamoto no Tsunenobu