[Gta04-owner] Inertial measurement unit

[Joerg Eesmann]

Hi there,
I would look into the OpenPilot project (www.openpilot.org).
They have it all done for fixed wings and multicopters. I am going to
use that project by myself for my tricopter, I am going to build.
Especially the AHRS-project and Revolution platform contain the
algorithms for IMU. It is not only Kalman, but also Quaternions.
OpenPilot is a very well structured project, I guess the things you are
looking for could be easily ported from that.
best regards,
Joerg

On Tue, 2012-03-06 at 17:23 +0400, Denis Shulyaka wrote:
> Since GTA04 has a 3-axis gyro and a 3-axis accelerometer, it is
> possible to build an IMU with 6 degrees of freedom - a device that is
> capable to tell its location and orientation at every point of time.
> It was not possible with GTA02 because it only had 2 accelerometers.
> The IMU could have many interesting applications like quadrocopter
> controller, advanced gestures recognition or a tracking device where
> GPS is not accessible or not accurate enough.
> Imagine yourself painting a picture in the air with your GTA04 instead
> of a brush and then saving it as a jpeg file. Or pointing to a
> specific lamp in your smart house to switch it on or off (which also
> requires some additional hardware in the house though).
> As I know, all this requires some advanced math, that I'm interested
> in. Do you know any open projects of creating an IMU, or any links
> that would help to understand the math behind it?
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