Pyboard control system design

General discussions and questions abound development of code with MicroPython that is not hardware specific.
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Turbinenreiter
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Re: Pyboard control system design

Post by Turbinenreiter » Sat May 16, 2015 2:46 pm

@pythoncoder I approve everything you do! ;)

On the sensor fusion stuff, some random thoughts:
* I currently use this https://github.com/kriswiner/MPU-9250 on the teensy 3.1 - at 2kHz.
* I think having a library, implement in C for performance, that offers sensor fusion would be ideal. Just throw in the 9DOF in and get pitch, yaw and roll back.
* Maybe the Bosch BNO55 is the answer to all problems. It has sensor fusion and it seems like it is actually usable, other than the proprietary garbage of the MPU9150. Bosch also has good data sheets and register maps and everything you love when writing drivers. It seems euler and quaternions can just be read from registers, just like the sensor data.
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pythoncoder
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Re: Pyboard control system design

Post by pythoncoder » Sun May 17, 2015 8:20 am

The Bosch chip looks great, but unless there's a breakout board most people - including me - are going to find it hard to use. Alas I can't find one. I have found a C driver here https://github.com/kriswiner/BNO-055/bl ... HRS_t3.ino. It's a pretty hefty chunk of code, but it could be ported to Python.

But sensor fusion - by whatever approach we decide on - is going to have to wait a while until I finish the other things I'm doing :)
Peter Hinch
Index to my micropython libraries.
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