@JanB

Ich habe das Filter bei Francisco Lobos Spider Projekt abgeschrieben:


' This is the simplified filtered based on trevor's blackwell project.
' It works OK, but should be changed in the future to a more robust kalman filter.
rate_est = RawGyro - rate_bias ' Real Rate is determine by de-drifting the gyro input.
rate_bias = rate_bias + (rate_est * dt * 0.3) ' the gyro input bias is determine by a proportional integral value from the gyro input.
angle_est = angle_est + (rate_est * dt ) ' Our angle is integrated from the gyro.
angle_est = angle_est + ((rawangle - angle_est) * dt * 0.1) ' We fuse the readings from the gyro 'de-drifted' and the accel 'long term average'.


Ich habe dann die Konstanten getuned, bis die Ausgabe stimmt.....