Hello all, so I am using an Arduino Nano BLE Sense and I am trying to wrap my head around how to integrate all the raw data from the built-in IMU into roll, pitch, and yaw values. I have tried reading other forums and papers and it just all goes straight over my head. Can someone please explain in layman's terms how I can accomplish this, as I am not very good at trig functions and all the stuff I find just confuses me more and more as I read.
In order to write your own 3D orientation code, you MUST understand the math, completely.
There are plenty of working 3D orientation (AHRS) examples on the web for most of the 9DOF sensors. I recommend the Mahony approach, which has been implemented for the LSM9DS1 sensor here.
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