I have a question about the init state
Closed this issue · 2 comments
JiyoonJo commented
When operating the algorithm filter for the first time, the values of pitch, roll, and yaw will have different values in the beginning depending on the slope of the sensor, should I change the init value below? (q_est = { 1, 0, 0, 0})
struct quaternion q_est = { 1, 0, 0, 0}; // initialize with as unit vector with real component = 1
The figure below shows the state in which the imu is installed at a different angle.
1) Standing on the side
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| imu sensor |
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|________________|
2) Layed down
__*_____________
|__imu_sensor___|
3) Reverse and lie down
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|___imu_sensor__|
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xioTechnologies commented
There is no variable q_est
. Please use the latest code available in this repository. The algorithm already handles initialisation, as described in the README.
JiyoonJo commented
ok thank you for your help.
I will try to apply latest code.