My first 6 DOF IMU Sensors Fusion Implementation: ADXL345, ITG3200, Arduino and Processing

I`m trying to use this code(Arduino Code IMU 6DOF - ADXL345 ITG3200 on chip filter), but on processing cube turns just randomly. Had any of you experienced such a issues?
thank you for help;)

Hello,

First of all, thank you for sharing your great work. I'm developing an IMU using a PIC along with Sparkfun IMU - 6DOF ITG3200/ADXL345. I've succesfully ported your code and I'd like to display an oriented cube like yours but using Labview, instead of Processing... Any idea of how to do it starting from RwEst values? I'm not able to understand how you do it in Processing, but I'm looking for something similar.

Thank you very much.

for accelerometer algorithm is

R_x/y/z = (AdcR_x/y/z * Vref / 1023 – VzeroG) / Sensitivity

I am having problem with value of sensitivity(mv/g).for +/-2g value is 478.5mV/g.But what is the value for +/-4g,+/-8g,+/-16g.I dont event know how to calculate accelerometer sensitivity in mv/g.can you please help.

Hi Fabio,

I'm trying to use your code and for some reason when I update the offsets for the breakout board I have nothing changes. I set the offsets to zero and oriented it with z facing downwards, had a look at the serial monitor, and then noted the offsets so I could put them in and get zero for x and y when it's in this orientation. They don't read zero, but read the same number that they were when the offsets were zero. I saved after the update and uploaded the code again, so I don't know what I'm missing.

Hi Fabio

Very nice guide btw!

I am using the combined IMU Board in combination with an Arduino Pro Mini and tried to run your programms on it.
The problem is that i dont get data from the accelerometer, whereas the gyroscope sends different values and seems ok. The serial monitor just shows me -512,-512,511 as accelerometer data and does not change. Do you have an idea what the reason for this could be? Is it possible that only the accelerometer is broken?

Hi there,
I have the 6 DOF Combo Board from Sparkfun. Occasionally the ITG3200 stops working. Any idea why or anybody with the same problem?

Hi, i am trying to use this code for my imu3000 of 6 DOF that gives data by i2c to my arduino uno r3, I have a code that gives me each data but I don’t know what do I have to do to change In your code so I can see it in the simulation of processing? And I install processing but I don’t know what do I have to open with all the folders that you attach

Hello I am using and imu-3000 that outputs data of 3axis gyro and 3 accel with i2c I want to ask you if is more harder to use this imu with a dsp30f4011 and programmed with the software mikroC

Hello, I am a big fan, I just wanted to know whether you are using the quaternion method for state estimation in your code, if so in which part? Is it at the part where you combine the accelerometer and gyroscope values?

Dear Fabio.

Thank you very much for this post, it´s really useful.
I´m working on a bit more complex kalman filter, by using different sensors: 2 IMU and an inclinometer....
I´m using two IMU Digital Combo Board from Sparkfun, but actually I only need to use the Gyroscopes of each IMU.

The problem I have is that I don´t know which pin of the Arduino I have to plug the SCL and SDA from the IMU.

As you say, I need to change the address of the Gyroscope from 0x69 to 0x68.Regarding the inputs to Arduino, the SDA and SCL are plug to A4 and A5 respectively. This works if I use only 1 IMU.

But if I need two IMUs:

what is the address of the Gyroscope for the second IMU?
which inputs of Arduino I have to connect the SCL and SDA?
where can I define these inputs?

Thank you very much,

Sergio

Hello Fabio...how can i get zero reading on accelerometer raw values when its flat...and zer0 for gyro when not moving..? Do you have a the code for calibrating the sensors zer0..? Thank you.

Hello Everyone.

I'm very much a newbie to all of this. And I'm having a bit of difficulty -

I've uploaded the sketch successfully to my Arduino Uno. I've installed Processing and hit Run of the pde. I don't see a square, neither do I see any movement.

I looked at the serial readout from the Arduino directly and all I'm seeing is a lot of strange characters in succession. What am I possibly doing wrong?

Thank you so much for your kind help!

Hi Fabio,
thank you for providing these amazing posts and for sharing your knowledge!
The following question could be a bit off-topicm I don't know...
I found one of your post in the page http://code.google.com/p/adxl345driver/issues/detail?id=1 in which you link a document concerning accelerometer calibration
http://www.st.com/stonline/products/literature/an/17353.pdf.
Because the link is no more available, can you send me that document?
Thanks

Alessandro

Hi, So i got the sparkfun version and I uploaded the files with chip filter, where serial screen gives me hex numbers, and with processing, it looks like your second part of video, it shakes too much, first part was pretty smooth, so I thought to use the file that doesnt have chip filter, but i ran into Sprintf problem down there! can you help me! thank you

Hi Fabio, thanks for this great blog. Actually I face a problem using processing. does proccessing use the same language of arduino which is (c) as I wrote the code using Arduino and can't implement it in processing. I'd be very grateful if u could help me

Dear Fabio

I managed to get a FreeIMU sensor.

I managed to upload the code successfully using arduino UNO.

However, I wonder why there are no readings in serial monitor?

Is it because of the sensor problem or my connection is loose?

Hi Fabio,
I'm working with an ITG3005 and ADXL345, got them working together on an Arduino (my own libs), combined the values in a Kalman filter ... so far so good, all data ok, but ... every x seconds, randomly, i get a gyro peak, even when the board is steady.

Did you ever experience that ?

Great work by the way, you got me motivated to develop my own quadcopter ;)

Hi Fabio,

I have been doing a bit more work with your program, converting it to work on the Beagleboard & Raspberry Pi and I noticed another part of the code I would like to ask you about. In the code for the ‘on chip filter’ version, in the subroutine ‘getGyroscopeData’ the 3 lines of code:

result[0] = ((buff[2] << 8) | buff[3]) + g_offx;
result[1] = ((buff[4] << 8) | buff[5]) + g_offy;
result[2] = ((buff[6] << 8) | buff[7]) + g_offz;

should the g_offx, g_offy, g_offz values be added (as here) or subtracted?

Ernie

Hi Fabio,

This is a very useful blog. I have used your code with some success, but I have one question about the process code for the ‘on chip filter’ version. When it reads the data from the Arduino it reads the estimated values using the following code:

RwEst[0] = decodeFloat(inputStringArr[0]);
RwEst[1] = decodeFloat(inputStringArr[1]);
RwEst[2] = decodeFloat(inputStringArr[2]);

Should the input string not be from indexes 11, 12 & 13? The above code will set the same values as RwAcc[x].

Thanks Ernie

Dear Fabio,

Do you have the code for hmc5883l?
I bought a tiny 9DOF module with hmc5883l from http://www.nbmarket.com/index.php/9dof-imu-itg3205-adxl345-hmc5883l-modu..., and I do not know is there any difference between itg3200 and itg3205.

Thanks!

Hi Fabio,
as far as I understood using your code with the Sparkfun board (so with one 3 axis accelerometer and one gyro) I should be able to estimate roll & pitch angle, roght ?

I am not a C expert so ... may I ask you if your "on chip" does still calculate the two angles or how to do that ?

Thanks for your help.
Mcroccolo

PS: I know, next time I will buy a FreeIMU... :-)

How do you open a .gz in processing? It wont open it, it says it has to be a .pde? Any help would be appreciated!

Hello,

Thanks for this guide it has been very helpful for me. But I have a question about the axis.

Here you have combined Gyro[0] and atan2(Acc[0],Acc[2]) in order to filter the data. However the gyro rate you take from Gyro[0] is the rotation around X axis, but the other angle gives the rotation around Y axis. Isn't there anything wrong in this problem.

I checked the example from starlino there the axis for gyroscope and accelerometer is opposite with eachother. I mean the x axis of gyro and y axis of the accelerometer is in the same direction. So this fixes the problem. However here on this sensor, the axis have the same direction.

The code is working nice, therefore I should be missing something here. Sorry for my bad english