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1  Using Arduino / Sensors / Re: Guide to gyro and accelerometer with Arduino including Kalman filtering on: February 04, 2013, 10:36:35 pm
Thanks laz again. Very helpful, taught me quite a bit about I2C that I didnt understand in just a little snippet of code. Thanks to your help though I have successfully got it working extremely well. The biggest issue was not so much the bumpyness of the road, I was able to tune it out and use a band pass filter + some averaging to get that taken care of. It was the high frequency engine vibration that was killing it. The quadcopter guys have the same issues with there motors and sensors. I was able to completely fix this by mounting the system on the bike with some padding and velcro.

Check it out!!

http://youtu.be/G61yXgXGFyo

2  Using Arduino / Sensors / Re: Guide to gyro and accelerometer with Arduino including Kalman filtering on: February 02, 2013, 01:27:31 am
So basically I have limited the issue with the motorcycle gyro cam down to the accelerometers z value. What I did to help reduce issues with vibrations was filter the incoming values by just loading them into an array and averaging the values. By increaing the amount of values loaded into the array it helps smooth it more, but also slows down responsiveness. But for the application, the responsiveness isn't too important. Seems to be working pretty well so far.
3  Using Arduino / Sensors / Re: Guide to gyro and accelerometer with Arduino including Kalman filtering on: January 31, 2013, 10:05:54 pm
Lauszus do you know what specifically I could change within your code to further minimize the noise from shaking the sensor in the z axis. There has to be something that can be done. Iv'e read through all your blogs on calibration and such but nothing is jumping out at me. You say I'm relying on the accelerometer values too much, but me being bad at math it doesn't jump out at me very quick exactly where I can adjust its reliance on the accelerometer or the gyro. It seems that the Q_angle, Q_bias variables are what I adjust and those correspond to the variance and the bias respectively from your blog. (http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/) The filter will filter out relatively small vibration, but not when the road gets really bumpy. If I shake the MPU6050 relatively strong up and down it just messes it slowly drifts the camera to one side or the other. It seems that no matter what I tune these variables too, it still doesn't work properly. Is there possibly something else that can be done with this chip, or are there other sensors that would be better suited for what I'm trying to accomplish. My gopro camera mount is soooo close to working properly.. Any extra help would be greatly appreciated. I'll continue working through your blog in the meantime.

It seems there is also a way to change the sensitivity of the gyro and accelerometer but I can't find any information on how to do that for a newbie like myself... =/
4  Using Arduino / Sensors / Re: Guide to gyro and accelerometer with Arduino including Kalman filtering on: January 27, 2013, 07:42:57 pm
So here's the issue I'm running into. I'm using Lauszus' code to try and set up a self stabilizing camera system. Although what I am finding is that the kalAngleX value is greatly effected by any acceleration in the z axis. If I shake the MPU6050 up and down the servo just goes crazy. When I hook it up to the bike the bumpiness of the road basically ruins it. I though that was the whole point of kalman filtering was to minimize this?
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