[Suggestion] Accelerometer integration

[602p]

What's the possibility of extending this (awesome!) library to do integration from the accelerometers?

I know it might have some big error issues, but I thought I'd bring it up, as it's something our team would be interested in.

Within the scope of the project?

[juchong]

That would be a great addition! Once you have some tested code implemented, feel free to submit a pull request and I'll integrate it into the code.

[niwhsa9]

juchong, I have some code for acelerometer integration that works reasonably well. It makes use of a median filter. Would you be open to adding it if I made a pull? It is not as accurate as a Kalman Filter but since there is currently no feature for this I figure its better than nothing. Let me know, if so I'll polish it off and pull.

Also, do you currently have a complimentary filter for combining Gyro+Accel readouts for accurate angle over a long period?

[juchong]

Hi!
I don't have a problem with integrating the accelerometer code. Is this for LabVIEW? If so, either of us can do the final integration.

I don't have a complementary filter because the AHRS output should provide the user with a similar output. It wouldn't hurt to add, though.

[niwhsa9]

Should've specified MB, this would be for Java and I could probably port it to C++ also. I don't know LabVIEW.

[juchong]

Oh, that makes it easy then! 👍

Go ahead and submit a pull request. I plan on updating the Java and C++ drivers to implement a few fixes I've already integrated into LabVIEW.

[juchong]

Hi! I just upgraded the driver to support auto SPI, so now may be a good time to add any code you may be working on!

Thanks!