IMU - Migrate to a better attitude calculation algorythm about inav HOT 5 CLOSED

current:
text data bss dec hex filename
118204 224 14156 132584 205e8 ./obj/main/cleanflight_NAZE.elf

with Madgwick AHRS
arm-none-eabi-size ./obj/main/cleanflight_NAZE.elf
text data bss dec hex filename
122212 220 14160 136592 21590 ./obj/main/cleanflight_NAZE.elf

Madgwick's AHRS took almost 4kb flash! I'll try see if it works better than complementary filter.

from inav.

Bench tests show that with Madgwick's AHRS heading is much more locked in (when using a compass). I've noticed that after a series of fast pitch-roll rotations complementary filter showed arbitrary heading and took half a second to correct using a compass. Using very same settings and same test Madgwicks AHRS was totally locked in.
But nothing comes without a price - for this I'm paying with extra 4k flash and lots of CPU cycles. When using complementary I was able to get looptime=1000, using AHRS I got only as low as looptime=1400. CPU is spending alot of time calculating AHRS.
Need to try it in-flight and see if it's worth it.

from inav.

Just tried to fly it - much worse than plain old complementary filter. HORIZON mode is very slow to react, copter feels mushy. That's probably due to incorrect beta used. Postponing this for now.

from inav.

Have you tried slowing loop time? Probably it could help

Il giorno 00:18 mar 04/ago/2015 Konstantin Sharlaimov <
[email protected]> ha scritto:

Just tried to fly it - much worse than plain old complementary filter.
HORIZON mode is very slow to react, copter feels mushy. That's probably due
to incorrect beta used. Postponing this for now.

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Reply to this email directly or view it on GitHub
https://github.com/digitalentity/cleanflight/issues/30#issuecomment-127420372
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from inav.

I'm closing this as new NAV PID controllers seem to be doing their job pretty good with current IMU. Will re-open if still necessary.

from inav.