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It just occurred to me that the Razor is a 3.3V device but we used a 5V calibration when writing the WebbotLib code.
Quote from: Admin on July 13, 2010, 12:04:40 PMIt just occurred to me that the Razor is a 3.3V device but we used a 5V calibration when writing the WebbotLib code.Not sure what you mean by the 5V calibration?SparkFun say that:The 9DOF operates at 3.3VDC; any power supplied (3.5-16VDC) to the white JST connector will be regulated down to this operating voltage.
There is nothing you guys can do to fix it........
Heads-up........There is a topic on the SparkFun Forum regarding Non-Linear Output from the SparkFun 9DoF Razor IMU X-axis accelerometer. See; Board index » Technical Discussions » Projects and SparkFun Product Questions Post subject: Question regarding Razor IMU X-axis accelerometer behavior
In summary: the previously supported boards Axon etc all use 5v as the ADC reference voltage. But on the Razor Board itself it uses 3.3v as the ADC reference voltage. So all the sensors that use ADC need to be rewritten to support ANY reference voltage rather than just assuming its 5v. Once I'm done then Admin can release a new hex file for uploading to the Razor.
WebbotLib Version 1.23 has been released with the following features:- * a2d.h - Added a2dReadMv * Reworked ALL analogue sensors to work with different ADC reference voltages
Nothing in the code I sent you has changed. What had changed were the hidden WebbotLib functions, hence the recompiled hex I sent you.
That said, Webbot rewrote my code in a much more difficult to understand manner, but he says its better so I believe him
Have you made any progress with the Kalman filter?
Have pointed Invicta to a DCM solution giving similar results. Uses matrix stuff which WebbotLib already supports.Could be a good solution but requires someone, ie not me, with the relevant hardware to write and test.