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updated with more comments and links
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adangert committed Oct 1, 2021
1 parent 7257436 commit 53d2d85
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21 changes: 20 additions & 1 deletion controller_util.py
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,24 @@
#link 3
#https://kusemanohar.info/2020/04/08/sensor-fusion-extended-kalman-filter-ekf/

#Check this one out:
#https://github.com/mrsp/imu_ekf/blob/7fb544b99bfb2638e008517105e18a369bef5f18/src/imu_estimator.cpp
#https://github.com/soarbear/imu_ekf/blob/master/imu_extended_kalman_filter.py

#another good link:
#https://nitinjsanket.github.io/tutorials/attitudeest/kf

#we are trying to find the best process model of an IMU that contains linear acceleration
#because that is the value we care most about and the one we want to track

# Continually prints sensor readings from the first controller found.

#notes 9/30/21
#well if we have the orientation!! then we can just get the linear acceleration by subtraction of it.

#so maybe we should just try the standard tutorials and then just do some regular estimation of linear accelration after we have
#orientation and acceleration

def FormatVec(v, places=5):
fmt = '{:%d.2f}' % places
return ', '.join([ fmt.format(e) for e in v ])
Expand All @@ -32,7 +48,7 @@ async def Loop(plr):
#orientation, acceleration, velocity?
#gyroscope, accelerometer

#From Link3 we are going to use orientation, linear velocity, gyroscope bias, and accelerometer bias
#From Link3 we are going to use orientation, linear acceleration, gyroscope bias, and accelerometer bias
#for the Joustmania game we don't care so much about position

#there is 4 states each with 3 variables,.
Expand All @@ -53,6 +69,9 @@ async def Loop(plr):
#current orientation
#look at github code next

#So the question is, how does orientation affect linear velocity??


rk.F = eye(3) + array([[0, 1, 0],
[0, 0, 0],
[0, 0, 0]]) * dt
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