Not every sensor comes with a library which include orientation calculation. This library is compatible with C and C++ compilers and solve the calculations by applying the Kalman filter.
The Arduino IDE with Espressif native port for ESP32 has conflicted with Wire library.
So I met the core of stickbreaker (click here) so currently is not necessary any change in the code between ESP32 and ESP8266.
The code pressupose a valid and calibrated value to sensors input.
#include <MPUOrientation.h>Contexts are useful in recursive operations (like in Kalman filter). So we need to use one for each MPU.
pCompassContext CNTX = createContext();//Declare global variable:
uint32_t timer;
...
// Inside loop(), when need to use delta time "dt"
double dt = (double)(micros() - timer) / 1000000; // Calculate as second
timer = micros(); // Reset timeIMUFullFusion SENS;
SENS.ACCEL.x = IMU.getAccelX_mss();
SENS.ACCEL.y = IMU.getAccelY_mss();
SENS.ACCEL.z = IMU.getAccelZ_mss();
SENS.GYRO.x = IMU.getGyroX_rads();
SENS.GYRO.y = IMU.getGyroY_rads();
SENS.GYRO.z = IMU.getGyroZ_rads();
SENS.MAG.x = IMU.getMagX_uT();
SENS.MAG.y = IMU.getMagY_uT();
SENS.MAG.z = IMU.getMagZ_uT();
// Context, ALGO, IMUFullFusion and time variance in seconds
IMUOrientation ori = getFullOrientation(CNTX, ALGO_SOMETHING, SENS, dt);IMUFusion SENS;
SENS.ACCEL.x = IMU.getAccelX_mss();
SENS.ACCEL.y = IMU.getAccelY_mss();
SENS.ACCEL.z = IMU.getAccelZ_mss();
SENS.GYRO.x = IMU.getGyroX_rads();
SENS.GYRO.y = IMU.getGyroY_rads();
SENS.GYRO.z = IMU.getGyroZ_rads();
// Context, ALGO, IMUFusion and time variance in seconds
IMUOrientation ori = getOrientation(CNTX, ALGO_SOMETHING, SENS, dt);Remember to replace "ALGO_SOMETHING" by ALGO_KALMAN_V1 or ALGO_MADGWICK_V1.
Serial.printf( "\t%f\t%f\t%f\n", ori.pitch, ori.roll, ori.yaw );This and other examples you can find in examples folder.
We consider to port the libfixmath to reduce cycles of calculation. Maybe a #define will be included in next versions of compassSet.h.
| Examble path | Functionality |
|---|---|
| ESP-NO-LIB | Calculate the axis Pitch, Roll and Yaw using magnetometer without the library. |
| ESP-Kalman-NO-MAG | Calculate the axis Pitch and Roll with the library. |
| ESP-Kalman-Compass | Calculate the axis Pitch, Roll and Yaw with the library. |
| ESP-Madgwick-Kalman-Full-Compare | A comparision between Kalman Filter and Madgwick quaternions calculation result. Compatible with processing script "Graph" |
| ESP-All-Full-Compare | A comparision bretween all fusion algorithms. Compatible with processing script "Graph3Mod". |
Kalman Filter. Now is already ported.- MPU9250
Download here. That's a fork from original library from bolderflight but with some implementations that I made for ESP8266/ESP32 in the "begin" function.
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