michaelt88

Member Since: August 4, 2010

Country: United States

  • Product SEN-10736 | about 2 years ago

    Hi,

    Great to see that the new AHRS has been updated for the new board. I was having a lot of trouble getting the FreeIMU firmware working properly with this board. It looks like Sparkfun is now contributing some of the proceeds to Jordi Munoz, who created the AHRS code. This seems like a very fair outcome seeing as though the board is effectively useless without the right code.

    In the AHRS code it appears as though there is a small error. The gyro x & y have been swapped around. This is very easy to fix though, I have included the necessary change below, but I think it should be updated on the code so that others don’t have this problem.

    Cheers,

    Mike

    —Code fix —Swap around gryo x & y values GYRO[1] = ((((int)buff[0]) << 8) | buff[1]); // X axis GYRO[0] = ((((int)buff[2]) << 8) | buff[3]); // Y axis GYRO[2] = ((((int)buff[4]) << 8) | buff[5]); // Z axis

    —Change gyro x to negative int SENSOR_SIGN[9] = {-1,-1,-1,1,1,1,-1,-1,-1};

  • Product SEN-10736 | about 2 years ago

    Hi,

    Great to see that the new AHRS has been updated for the new board. It looks like Sparkfun is now contributing some of the proceeds to Jordi Munoz, who created the AHRS code. This seems like a very fair outcome seeing as though the board is effectively useless without the right code.

    In the AHRS code it appears as though there is a small error. The gyro x & y have been swapped around. This is very easy to fix though, I have included the necessary change below, but I think it should be updated on the code so that others don’t have this problem.

    Cheers,

    Mike

    Code fix ***Swap around gryo x & y values GYRO[1] = ((((int)buff[0])

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