Hello to everyone!
I'm new to pyboard and almost telecommunications engineer, and I say almost because I chose to build a quadcopter using the pyboard.
I'm using the module mpu9150.py and a MPU 9150 of course. I got to control the motors by using the timers, but I'm stuck now on calculating the pitch and roll. I got to get the angle between 90 and -90 for both pitch and roll from the accelerometer but I wasn't so succesful on getting them from the gyro. Since it gives a rate per axis, I've been trying to integrate this by performing an addition with the previous calculated angle and the current rate times dt (something like actual time - previous time + 1/sample_rate) among other things, and I can't seem to understand what I'm doing wrong, and it seems it happens to lot of people since in my research through hundreds of forums, I found out this is many people's problem. So this is a cry for help since I've been stuck at this point for a long time and I still need to calculate yaw and altitude. The project consists on implementing a code that allows the quadrotor to fly steady and stationary without falling down
I'll leave you a github repository in case you fancy to take a look at my code.
https://github.com/insekto87/Pyboard-Quadcopter
Any help would be really appreciated!! Thank you in advance!!
Pyboard based Quadrotor
- pythoncoder
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Re: Pyboard based Quadrotor
A standard way of doing this is the Madgwick algorithm which uses quaternions to compute heading, pitch and roll. I've posted a MicroPython implementation of this here https://github.com/micropython-IMU/micr ... fusion.git. I've tested this on the bench but as far as I know nobody has flown it yet
Peter Hinch
Index to my micropython libraries.
Index to my micropython libraries.
Re: Pyboard based Quadrotor
Thank you so much pythoncoder!! I'll look into it as soon as possible and I'll post here from time to time my progress. Let's hope it ends up flying
Thanks again!!
Thanks again!!