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herryw replied to William Premerlani's discussion 'robust estimator of the direction cosine matrix'
very clear answer, thx.
i just finally made my own board work with your DCM theorem, after 4 months -_-a really happy though =)
how long did u take for understanding the mahony's and implement this DCM, Sir ? and what's your education…
herryw replied to William Premerlani's discussion 'robust estimator of the direction cosine matrix'
okay =)
and why you didn't use the D term, Sir ?
herryw replied to William Premerlani's discussion 'robust estimator of the direction cosine matrix'
Thx Sir, I got it.
what about Gyro_Gain and Ki Kp value, how to find it's best value ?
herryw replied to William Premerlani's discussion 'robust estimator of the direction cosine matrix'
refer to Louis, (1-based indexing)
phi = atan2(-DCM23, DCM33)
theta = atan2(DCM13, sqrt(1-(DCM13)^2))
psi=atan2( -DCM12, DCM11)
and the firmware on ArduIMU_pack,
theta=asin(DCM[3,1])
---
the angle of phi & psi is varied from 0 to 180 then -180…
herryw replied to William Premerlani's discussion 'robust estimator of the direction cosine matrix'
"The vectors in equation 14 are the rows of the R matrix in equation 1"
how could equation 14 represent the rows of R matrix ? i need enlightenment here -_-a
herryw replied to William Premerlani's discussion 'robust estimator of the direction cosine matrix'
can anyone explain me how equation 14 became a matrix form on equation 17 ? (refer to DCMDraft2.pdf)
i don't understand how "r(t) + r(t) x d0(t)" there's an addition and a cross product became matrix multiplication by a scalar…
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