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Initialize using gravity vectors to exclude the influence of the orientation during initialization #79

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Initialize using gravity vectors to exclude the influence of the orientation during initialization #79

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Commits on Jan 31, 2024

  1. The previous method of subtracting gravity when calibrating accelerom… 

    …eters required that the Z-axis be exactly parallel to and upward of the direction of gravity, but now a normalized gravity vector is used. This algorithm for obtaining the normalized vector could perhaps be replaced by "Fast Inverse Square Root".
    @Zhaosn
    Zhaosn committed Jan 31, 2024
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  2. Never forget the concept of vectors now, huh? 

    Unit vectors with offsets close to zero are literally monsters!
    @Zhaosn
    Zhaosn committed Jan 31, 2024
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  3. It's worth to note that my tests show it's maybe better to keep the c… 

    …ode unchanged and keep the z-axis calibrated upwards, just make sure the z-axis was calibrated upwards. Now all directions can be just as bad, and the calibration error is related to epsilon
    @Zhaosn
    Zhaosn committed Jan 31, 2024
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Commits on Feb 1, 2024

  1. Update MPU6050.cpp 

    If the acceleration reading is [0 0 0] at the beginning, it causes the unit vector to return [nan nan nan nan], which causes the ITerm always be nan, leading to unconvergence

Signed-off-by: Zhaosn <[email protected]>
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    Zhaosn authored Feb 1, 2024
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  2. Update MPU6050.cpp 

    Signed-off-by: Zhaosn <[email protected]>
    @Zhaosn
    Zhaosn authored Feb 1, 2024
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