6DOF & 9DOF Sensor Fusion with Madgwick's Filter, MPU6050, HMC5883L (GY-86 Module)
25.9 هزار بار بازدید -
-
In this video I show
In this video I show how to use Madgwick's Filter to fuse sensors readings from an InvenSense MPU6050 gyroscope / accelerometer and a Honeywell HMC5883L magnetometer. This filter is very easy to use, with only two settings that require attention: the gain, and the sample frequency. I use Madgwick's Filter to determine the pitch angle of my balancing robot, and take the first steps toward getting the robot to balance. To help visualize the sensor fusion, I also wrote a very basic Java program using the Java3D and jSerialComm libraries. It shows a 3D cube rotating based on the quaternion output of the filter.
Firmware source code is here:
https://github.com/farrellf/Balancing...
The Java3D test program source code is here:
https://github.com/farrellf/Balancing...
The sensor module I used is available from ICStation here:
http://www.icstation.com/10dof-ms5611...
This video is part of a series showing how to build a balancing robot:
Part 1: Modify RC Servos for Continuous Rotation and External H-Bridge Control
Modify RC Servos for Continuous Rotat...
Part 2: Building a Robot Chassis with Brass Square Tube, a Dremel, and Solder
Building a Robot Chassis with Brass S...
Part 3: First Steps with a GY-86 10DOF Sensor: MPU6050, HMC5883L and MS5611
First Steps with a GY-86 10DOF Sensor...
Part 4: [THIS VIDEO] 6DOF & 9DOF Sensor Fusion with Madgwick's Filter, MPU6050, HMC5883L (GY-86 Module)
6DOF & 9DOF Sensor Fusion with Madgwi...
Part 5: How to Use CC2500 PA LNA 2.4GHz Wireless RF Modules
How to Use CC2500 PA LNA 2.4GHz Wirel...
Part 6: GPU-Accelerated Data Logging and Telemetry
GPU-Accelerated Arduino Data Logging ...
Part 7: How to Tune PID Control Loops Visually
How to Visually Tune PID Control Loops
Firmware source code is here:
https://github.com/farrellf/Balancing...
The Java3D test program source code is here:
https://github.com/farrellf/Balancing...
The sensor module I used is available from ICStation here:
http://www.icstation.com/10dof-ms5611...
This video is part of a series showing how to build a balancing robot:
Part 1: Modify RC Servos for Continuous Rotation and External H-Bridge Control
Modify RC Servos for Continuous Rotat...
Part 2: Building a Robot Chassis with Brass Square Tube, a Dremel, and Solder
Building a Robot Chassis with Brass S...
Part 3: First Steps with a GY-86 10DOF Sensor: MPU6050, HMC5883L and MS5611
First Steps with a GY-86 10DOF Sensor...
Part 4: [THIS VIDEO] 6DOF & 9DOF Sensor Fusion with Madgwick's Filter, MPU6050, HMC5883L (GY-86 Module)
6DOF & 9DOF Sensor Fusion with Madgwi...
Part 5: How to Use CC2500 PA LNA 2.4GHz Wireless RF Modules
How to Use CC2500 PA LNA 2.4GHz Wirel...
Part 6: GPU-Accelerated Data Logging and Telemetry
GPU-Accelerated Arduino Data Logging ...
Part 7: How to Tune PID Control Loops Visually
How to Visually Tune PID Control Loops
55 سال پیش
در تاریخ 1403/04/22 منتشر شده
است.
25,909
بـار بازدید شده