AHRS ==== This is a test project for STM32F3-Discovery. It works as the discovery board spatial positioning visualization system. It uses all the three sensors that are on board of STMF3-Discovery. FUSION ====== Fusion code: either of -Madgwick algorythm -Mahony algorythm I found them here: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/ Please let me know if I give a wrong reference or fail to properly identify authors You can switch between algorythms by commenting/uncommenting appropreate lines in file sensors.c: #define USE_MADGWICK_AHRS //#define USE_MAHONY_AHRS OUTPUT ====== The firmware can use USART (Quaternion) or USB-HID(Euler angles) for data output Either USART_USE_USB or USART_USE_USART must be defined for this I do this in project settings (external pre-defined macro) VISUALIZATION ============= There's a Python visualization script myVisualisation.py To use this one, you need: -Python 2.7 -pywinusb (to use usb) -VPython -Windows (I guess - for python libraries???) To switch between USART and USB, you have to change the following line in main(): comm = CommunicationDevice('joystick') change to comm = CommunicationDevice('serial')
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