I’m using an Arduino Uno Rev 3 for a tracking of a solar module.
I use an astronomical algorithms so I need an GPS, a gyroscope sensor for the vertical angle and a compass for the horizontal angle.
I get a differenz angle between the angle I get with the compass and the calculated algorithm.
I will also get the angle between the the measured angle by a gyroscope.
I use as GPS the Adafruit Ultimate GPS Logger Shield - Includes GPS Module.
For the algorithm I use the SolarTracker4Arduino1.0.1
AltIMU-10 v4 Gyro, Accelerometer, Compass, and Altimeter (L3GD20H, LSM303D, and LPS25H Carrier) is also used.
The angle between the calculated in and the measured angle by compass works.
But I have problems withthe other angle mesured by the gyroscope.
I made an Offset and I calculated the noise. So I can get the angle by integration over the time.
It still works alone but if I insert it in my code, the L3GD20H shows me wrong angels.
I don’t know why.
Have you got some code for a Kalman filter which one is implemented with the L3GD20H Gyroscope??
Here is the currently produced source code.
And the code for my L3GD20H Gyroscope.
If I only test this code I get a perfect angel.
But in the other code it doesn’t work really.
Tank you for your help.
GPS_Helios_Kompass1.ino (11 KB)
Gyroskop.ino (2.2 KB)