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Orientare 3D cu giroscop si acelerometru cu dspic33 HEELP


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Salut, de cateva saptamani ma manca capul sa fac un proiect rc cu un elicopter, m-am apucat cu sistemul de stabilzare care foloseste un MPU6050 pe post de acelerometru si giroscop, fiecare avand 3 axe, x y zMomentan folosesc un dpic pe 16bit la 40 MIPS Din ce am citit pana acum pe net, am vazut ca la orientarea in spatiu se folosesc niste matrici ( "Quaternion").Giroscopul stiu ca imi da viteza unghiulara exprimata in grade/secunda (dps)Problema apare la introducerea valorilor din giroscop in aceea matrice, trebuie converite in radiani/sec ?Este primul proiect care implica giroscoape si acelerometre, si daca se poate as dori putin indrumareA incercat cineva de pe aici sa faca un astfel de proiect?

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