by javalin » Thu Mar 03, 2011 2:45 pm
yes - so a Euler angle would be just X, Y and Z as degree's -90 -> +90 wouldn't it? Just simple addition and subtraction to modify, and trig to generate?
This would work for what you posted (brackets added for me):
Position = Last_Position + (Speed * dt)
Speed = Last_Speed + (Acceleration * dt)
Roll_Angle = Last_Roll_Angle + (Roll_Angle_Rate * dt)
and I can do pitch the same?
Pitch_angle = Last_Pitch_Angle + (Roll_Pitch_Rate * dt)
And the roll_angle_rate is the deg/s from the gyro I assume.
I assume this then forms the mathmatical model which I can then work on drift,etc, correction?
Thanks!
James