Hi,
I'm developing a human quantification system where I integrate the mpu-9150 board with a human kinematics model in order to achieve the correct position of the wrist, elbow, shoulder, etc...
I've had a problem regarding the initial heading of the board that points towards the magnetic north. I needed that the initial heading was aligned according to the board orientation.
In the Teapot demo when pressed "enter" the sensor is aligned correctly. Do you perform just a rotation of the view and the heading stays the same or do you perform a rotation so that it matches the orientation of the board?
Regards, V.
- Log in to post comments
phpbb Topic ID
14862
Re: Re: Realigned Heading
Converting the orientation to 6-axis will give a quaternion referenced from the initial orientation, and drift in yaw along with the gyro output. You'll likely have the best results by using the 9 axis mode, then creating an initial quaternion used as a reference in your application to provide the desired frame with respect to North.