"I sure do and would gladly share it. However it is rather large an I cannot just paste it into the post; I also do not have a WEB site to post the code. On the other hand, if you provide me with your e-mail, I will send you the whole project…"
Alex Zarenin's Discussions
Compass Module with Tilt Compensation - HMC6343
Started this discussion. Last reply by Alex Zarenin Oct 18, 2009. 2 Replies 0 Likes
Hi,I am new to this forum, so I apologize if I touch on the topic that was already discussed (however I tried to do the corresponding search on the forum and did not find relevant topics).So, to the…Continue
Alex Zarenin's Page
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Alex Zarenin commented on William Premerlani's blog post DCM IMU Theory : first draft"Jeroen,
I am working on a similar project and also on a dsPIC platform. As a first step I made sure that the attitude data coming from my implementation of the DCM algorithm is stable under a broad range of conditions (that I managed to…"
Alex Zarenin replied to Andy Gongora's discussion Quad vs Hexa vs Octo -copter. (Radial and coaxial) Advantages-Disadvantages?"Quads (as far as I understand) have two motors on one cross-beam rotating in one direction while two other motors on other cross-beam counter-rotate. This way you can compensate for yaw without changing the overall lift by increasing lift on both…"
Alex Zarenin replied to William Premerlani's discussion Automatic nulling of magnetometer offsets"Hi Bill,
I apologize for not being clear with my goal – I am not building an autopilot, but an IMU that should be able to provide orientation reference in the roll, pitch, and yaw planes. In the roll and pitch planes I would like to establish…"
Alex Zarenin replied to William Premerlani's discussion Automatic nulling of magnetometer offsets"Hi Bill,
Thank you again for the detailed explanation of your work!
In the IMU that I am building I would like to use the magnetic field measurement that I collect when the board is powered up as the reference vector for subsequent yaw lock…"
Alex Zarenin replied to William Premerlani's discussion Automatic nulling of magnetometer offsets"Hi Bill,
Could you please elaborate a bit more on your algorithm for yaw lock that you use in the MatrixPilot – I would assume that by the “known direction of magnetic field” you mean the magnetic field measurement done before the…"
Alex Zarenin replied to William Premerlani's discussion Automatic nulling of magnetometer offsets"Hi Bill,
In the board I am working on I would like to use 3-axis magnetometer in addition to the 3-axis accelerometer to compensate for gyro drift and achieve yaw lock. In implementing this algorithm I am following your outline as discussed in…"
Alex Zarenin commented on William Premerlani's blog post DCM IMU Theory : first draft"Hi Bill,
This is a very interesting point! Let’s say I make measurements every 20 msec. As part of the integration of gyro rates I multiply them by the time interval, 20 msec in my case, which is equivalent to dividing the rate values by…"
Alex Zarenin commented on William Premerlani's blog post DCM IMU Theory : first draft"Hi Bill,
I am still working on the Roll-Pitch correction piece using accelerometers; with this regards have couple of questions regarding algorithm described in the “DCM draft”.
As far as I understand, the cross product of the Z row of…"
Alex Zarenin commented on William Premerlani's blog post DCM IMU Theory : first draft"Hi Bill,
Thank you very much for the clarification! Based upon your suggestion for Kp and Ki and given that the gravity vector translates into 3,300 units, to preserve tau = 10, I would have to set:
Kp = 0.2 / 3,300 = 6.06e-5
and Ki = 0.01 / 3,300…"
Alex Zarenin commented on William Premerlani's blog post DCM IMU Theory : first draft"Dear Bill,
Slowly but surely I am working on my implementation of your DCM algorithm using my custom board. To simplify development I am writing a C# code on the PC using data wirelessly streamed from the board as I move it around :)
The gyro part…"
Alex Zarenin commented on William Premerlani's blog post DCM IMU Theory : first draft"Dear Bill,
I have been reading and re-reading your very informative document "DCM IMU Theory : first draft" - I would like to use your algorithm with my board that uses Sparkfun's 6 DOF IMU Razor and 3-axis magnetometer to derive the…"
Alex Zarenin replied to Alex Zarenin's discussion Compass Module with Tilt Compensation - HMC6343"Yeah, that was my suspicion as well, but decided to ask in hope that I was wrong :)
Honeywell also has a new one with gyro compensation: HMR3600 , but according to the datasheet (http://www.ssec.honeywell.com/magnetic/datasheets/upoint_compass.pdf)…"
ModeratorChris Anderson replied to Alex Zarenin's discussion Compass Module with Tilt Compensation - HMC6343
"No, you'll still need gyros. These things aren't designed to handle inertial forces. They only correct the compass when stationary."
Alex Zarenin posted a discussionCompass Module with Tilt Compensation - HMC6343
Hi,I am new to this forum, so I apologize if I touch on the topic that was already discussed (however I tried to do the corresponding search on the forum and did not find relevant topics).So, to the point, there is a Compass Module on SparkFun (http://www.sparkfun.com/commerce/product_info.php?products_id=8656), which, according to the datasheet (…See More
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- I am a professional programmer with the Ph. D. in Computer Science. Interested in RC flying. Now working on building stabilization board for the quadrocopter using dsPIC MCUs.
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