micropython-IMU/micropython-mpu9x50

Random value from yaw calculation?

Closed this issue · 5 comments

eddyyanto commented

I am using MPU-9250/6500 and managed to get the filtered pitch and roll data just fine. But when I tried to calculate the yaw using the below yaw calculation at https://engineering.stackexchange.com/questions/3348/calculating-pitch-yaw-and-roll-from-mag-acc-and-gyro-data

yaw = 180 * atan (accelerationZ/sqrt(accelerationX*accelerationX + accelerationZ*accelerationZ))/M_PI;

The returned value seemed to be a bit random? Any idea?

peterhinch commented

I suggest you use Madgwick fusion which has been tested.

eddyyanto commented

Will do! Thanks @peterhinch! :)

eddyyanto commented

Tried using Fusion and it seemed that my Adafruit Huzzah ESP8266 can't take the big library size:

File "main.py", line 4, in <module> MemoryError: memory allocation failed, allocating 761 bytes

I've cleared up unnecessary files and it keeps throwing me memory allocation failed issue.

peterhinch commented

You probably need to use frozen bytecode also my build scripts as the official docs aren't entirely up to date.

I don't think I've ever tried sensor fusion on an ESP8266.

eddyyanto commented

Thanks for the pointer, @peterhinch! 🙏
I'll give it a shot! I'll close this thread now.