570f0c12f9
- Fixed IMU calibration function bugs - Fixed IMU data processing bugs - Fixed madgwick init bug - Inverted magn axis relative to IMU (180 degree rotation) in madgwick - Acc bias currently set to 0 and 1 for gravity - Gyro values now rad/s instead of deg/s as madgwick requires
master
pima2026-10-04 18:03:02 +02:00
1409bad40b
Fixed DMA and INT bugs
pima2026-10-03 17:42:33 +02:00
5daac77a37
Added hemisphere continuity enforcement in the madgwick algorithm
pima2026-09-23 18:31:51 +02:00
5e3dd3128b
Both sensors now run over interrupts in pulse mode. This still needs tweaking as its buggy but works for now on full speed for both sensors.
pima2026-09-20 19:55:57 +02:00
7ee381de58
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
pima2026-09-13 19:51:03 +02:00
pima