- Sun Nov 28, 2010 6:55 am
#114414
Hello,
I am porting algorithm from http://code.google.com/p/sf9domahrs/ to my device
I have angular velocity measured in rad/s, acceleration in G units (1==9.8m/sec^2), and magnetic field in units of earth mag. field
Is anybody know physical and/or mathematical meaning of these four coefficient:
#define Kp_ROLLPITCH 0.02
#define Ki_ROLLPITCH 0.00002
#define Kp_YAW 1.2
#define Ki_YAW 0.00002
Thanx.
I am porting algorithm from http://code.google.com/p/sf9domahrs/ to my device
I have angular velocity measured in rad/s, acceleration in G units (1==9.8m/sec^2), and magnetic field in units of earth mag. field
Is anybody know physical and/or mathematical meaning of these four coefficient:
#define Kp_ROLLPITCH 0.02
#define Ki_ROLLPITCH 0.00002
#define Kp_YAW 1.2
#define Ki_YAW 0.00002
Thanx.