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	<title>Comments on: Arduino code for IMU Guide algorithm. Using a 5DOF IMU (accelerometer and gyroscope combo)</title>
	<atom:link href="http://www.starlino.com/imu_kalman_arduino.html/feed" rel="self" type="application/rss+xml" />
	<link>http://www.starlino.com/imu_kalman_arduino.html</link>
	<description>Electronics and Robotics Projects, Tutorials, Reviews, Experiments</description>
	<lastBuildDate>Fri, 03 Feb 2012 16:51:23 +0000</lastBuildDate>
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	<item>
		<title>By: starlino</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2155</link>
		<dc:creator>starlino</dc:creator>
		<pubDate>Mon, 23 Jan 2012 20:02:48 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2155</guid>
		<description>Barry: Multiple data sources would be an interesting feature , might add to the extended wishlist.
For scale you can use Pitch parameter, see:
http://code.google.com/p/serialchart/wiki/AdvancedFeatures</description>
		<content:encoded><![CDATA[<p>Barry: Multiple data sources would be an interesting feature , might add to the extended wishlist.<br />
For scale you can use Pitch parameter, see:<br />
<a href="http://code.google.com/p/serialchart/wiki/AdvancedFeatures" rel="nofollow">http://code.google.com/p/serialchart/wiki/AdvancedFeatures</a></p>
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	<item>
		<title>By: Barry Beasley</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2154</link>
		<dc:creator>Barry Beasley</dc:creator>
		<pubDate>Mon, 23 Jan 2012 19:36:54 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2154</guid>
		<description>Hi Starlino,

Would it be possible to accept data from two seperate serial ports and plot the received data on one chart? 
Also could we have a feature to add a scale(s) for X &amp; Y axis?

Thanks

Barry</description>
		<content:encoded><![CDATA[<p>Hi Starlino,</p>
<p>Would it be possible to accept data from two seperate serial ports and plot the received data on one chart?<br />
Also could we have a feature to add a scale(s) for X &amp; Y axis?</p>
<p>Thanks</p>
<p>Barry</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: gunbrown</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2148</link>
		<dc:creator>gunbrown</dc:creator>
		<pubDate>Sun, 15 Jan 2012 00:06:28 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2148</guid>
		<description>Hi Starlino

I am trying to measure roll and pitch degree of moving object (sort of a cylinder).
I am bit of confuse, is that your algorithm can measure roll pitch degree of moving object? 

Thank You</description>
		<content:encoded><![CDATA[<p>Hi Starlino</p>
<p>I am trying to measure roll and pitch degree of moving object (sort of a cylinder).<br />
I am bit of confuse, is that your algorithm can measure roll pitch degree of moving object? </p>
<p>Thank You</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: Arduino code for IMU Guide algorithm &#124; PyroElectro - News, Projects &#38; Tutorials</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2137</link>
		<dc:creator>Arduino code for IMU Guide algorithm &#124; PyroElectro - News, Projects &#38; Tutorials</dc:creator>
		<pubDate>Sat, 24 Dec 2011 21:42:26 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2137</guid>
		<description>[...] . The theory behind this algorithm was first introduced in my Imu Guide article.&#8221; PyroFactor: Read   Permalink &#160;&#124;&#160; &#160;Email This [...]</description>
		<content:encoded><![CDATA[<p>[...] . The theory behind this algorithm was first introduced in my Imu Guide article.&rdquo; PyroFactor: Read   Permalink &nbsp;|&nbsp; &nbsp;Email This [...]</p>
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	</item>
	<item>
		<title>By: Xris</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2136</link>
		<dc:creator>Xris</dc:creator>
		<pubDate>Sat, 24 Dec 2011 10:55:31 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2136</guid>
		<description>Hi Starlino
I am trying to implement you serial chart in an application in order to observe the data of a accelerometer using a PIC24FJ64GB002, but my problem is that i use ANSI C for pic24f which doesn&#039;t have the function Serial.print(). So is there any library or a method to do that?

Instead i used this code, but on the serial Chart i receive random symbols.


                 hdlc_send_float(Interval_msec);
                 uart_send_char(&quot;,&quot;); //               
                 hdlc_send_float(Xaxis);
                 uart_send_char(&quot;,&quot;);
                 hdlc_send_float(Yaxis);  
                 uart_send_char(&quot;,&quot;);</description>
		<content:encoded><![CDATA[<p>Hi Starlino<br />
I am trying to implement you serial chart in an application in order to observe the data of a accelerometer using a PIC24FJ64GB002, but my problem is that i use ANSI C for pic24f which doesn&#8217;t have the function Serial.print(). So is there any library or a method to do that?</p>
<p>Instead i used this code, but on the serial Chart i receive random symbols.</p>
<p>                 hdlc_send_float(Interval_msec);<br />
                 uart_send_char(&#8220;,&#8221;); //<br />
                 hdlc_send_float(Xaxis);<br />
                 uart_send_char(&#8220;,&#8221;);<br />
                 hdlc_send_float(Yaxis);<br />
                 uart_send_char(&#8220;,&#8221;);</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: DCM Tutorial &#8211; An Introduction to Orientation Kinematics &#171; Starlino Electronics</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2100</link>
		<dc:creator>DCM Tutorial &#8211; An Introduction to Orientation Kinematics &#171; Starlino Electronics</dc:creator>
		<pubDate>Thu, 24 Nov 2011 03:00:47 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2100</guid>
		<description>[...] part 3 of my “IMU Guide” and a practical Arduino experiment with code was presented in the “Using a 5DOF IMU” article and was nicknamed “Simplified Kalman Filter”, providing a simple alternative to the [...]</description>
		<content:encoded><![CDATA[<p>[...] part 3 of my “IMU Guide” and a practical Arduino experiment with code was presented in the “Using a 5DOF IMU” article and was nicknamed “Simplified Kalman Filter”, providing a simple alternative to the [...]</p>
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	</item>
	<item>
		<title>By: Luca</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2094</link>
		<dc:creator>Luca</dc:creator>
		<pubDate>Fri, 18 Nov 2011 08:01:53 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2094</guid>
		<description>Hi, I&#039;m working on 6DOF IMU sensors and found this application (SerialChart) very useful.

This post just to submit an issue about SerialChart. Having multiple USB/serial transceiver (i.e. FTDI chip) connecting different development boards, the virtual COM number assignement may grow quickly. In my case using COM5 I can connect the serial port but usign COM19 I can&#039;t: SerialChart returns a message box error &quot;Could not open port COM19&quot;.

Could be a bug in the COM port configuration parser that only forsee COM port names ranging from COM1 to COM9? I get the same messages with all COM port with two digits number.</description>
		<content:encoded><![CDATA[<p>Hi, I&#8217;m working on 6DOF IMU sensors and found this application (SerialChart) very useful.</p>
<p>This post just to submit an issue about SerialChart. Having multiple USB/serial transceiver (i.e. FTDI chip) connecting different development boards, the virtual COM number assignement may grow quickly. In my case using COM5 I can connect the serial port but usign COM19 I can&#8217;t: SerialChart returns a message box error &#8220;Could not open port COM19&#8243;.</p>
<p>Could be a bug in the COM port configuration parser that only forsee COM port names ranging from COM1 to COM9? I get the same messages with all COM port with two digits number.</p>
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	</item>
	<item>
		<title>By: Emilio</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2071</link>
		<dc:creator>Emilio</dc:creator>
		<pubDate>Sun, 30 Oct 2011 02:16:39 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2071</guid>
		<description>hola,ante todo gracias por su pagina y dedicación. mi consulta es la siguiente. en mi proyecto necesito colocar por razones de espacio la placa de un 5DOF IMU en posición vertical, no horizontal ¿es posible cambiar la orientación de los ejes por software? para situarla en esa posición. utilizo su programa que implementa el filtro Kalman. Gracias por su atención, y un sincero y cordial saludo</description>
		<content:encoded><![CDATA[<p>hola,ante todo gracias por su pagina y dedicación. mi consulta es la siguiente. en mi proyecto necesito colocar por razones de espacio la placa de un 5DOF IMU en posición vertical, no horizontal ¿es posible cambiar la orientación de los ejes por software? para situarla en esa posición. utilizo su programa que implementa el filtro Kalman. Gracias por su atención, y un sincero y cordial saludo</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: Omnimusha</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2069</link>
		<dc:creator>Omnimusha</dc:creator>
		<pubDate>Fri, 28 Oct 2011 17:06:07 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2069</guid>
		<description>hello, as nunchuk data convert to angles?</description>
		<content:encoded><![CDATA[<p>hello, as nunchuk data convert to angles?</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: keehun</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2036</link>
		<dc:creator>keehun</dc:creator>
		<pubDate>Wed, 24 Aug 2011 14:22:14 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2036</guid>
		<description>Sorry, I get it now. You&#039;re multiplying the rate by the time which has elapsed. Which ultimately results in just degrees.</description>
		<content:encoded><![CDATA[<p>Sorry, I get it now. You&#8217;re multiplying the rate by the time which has elapsed. Which ultimately results in just degrees.</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: keehun</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-2035</link>
		<dc:creator>keehun</dc:creator>
		<pubDate>Wed, 24 Aug 2011 14:21:01 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-2035</guid>
		<description>Hi,

What is the purpose of tmpf *= interval / 1000.0f?

I get what it does (multiply tmpf by time stamp difference once divided by 1000 for unit conversion?), but how does that actually calculate the angle change in degrees?

Thank you,
Keehun</description>
		<content:encoded><![CDATA[<p>Hi,</p>
<p>What is the purpose of tmpf *= interval / 1000.0f?</p>
<p>I get what it does (multiply tmpf by time stamp difference once divided by 1000 for unit conversion?), but how does that actually calculate the angle change in degrees?</p>
<p>Thank you,<br />
Keehun</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: starlino</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-996</link>
		<dc:creator>starlino</dc:creator>
		<pubDate>Fri, 17 Jun 2011 03:20:07 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-996</guid>
		<description>Pete, as a matter of fact I know Objective C and I experimented with it, the main challenge would that the emulator that comes with XCode obviously cannot simulate the accelerometer, so there are some tricks how to simulate this data. I approved your comment so if anyone is interested and they post here - I will forward them to you. If the job is paid well -  I might take it ( you can write me in private at  contact [at] starlino.com so we can discuss in detail).</description>
		<content:encoded><![CDATA[<p>Pete, as a matter of fact I know Objective C and I experimented with it, the main challenge would that the emulator that comes with XCode obviously cannot simulate the accelerometer, so there are some tricks how to simulate this data. I approved your comment so if anyone is interested and they post here &#8211; I will forward them to you. If the job is paid well &#8211;  I might take it ( you can write me in private at  contact [at] starlino.com so we can discuss in detail).</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: Peter Lindner</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-988</link>
		<dc:creator>Peter Lindner</dc:creator>
		<pubDate>Thu, 16 Jun 2011 22:17:53 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-988</guid>
		<description>Do you know Objective C for the iPhone4?  If so, would you be willing to write an app using that device&#039;s accelerometer and gyro to get x,y,z,t coordinates, which come in 1/n , where n=10, 20, 60, so 60 readings per second?

I&#039;m a novice programmer, and just getting the data is hard.  If you don&#039;t do it, or don&#039;t have the time, do you know anyone knowledgeable on the iPhone4 who might help me? 

Thanks,

Pete</description>
		<content:encoded><![CDATA[<p>Do you know Objective C for the iPhone4?  If so, would you be willing to write an app using that device&#8217;s accelerometer and gyro to get x,y,z,t coordinates, which come in 1/n , where n=10, 20, 60, so 60 readings per second?</p>
<p>I&#8217;m a novice programmer, and just getting the data is hard.  If you don&#8217;t do it, or don&#8217;t have the time, do you know anyone knowledgeable on the iPhone4 who might help me? </p>
<p>Thanks,</p>
<p>Pete</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: wannabeaflyer</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-924</link>
		<dc:creator>wannabeaflyer</dc:creator>
		<pubDate>Sun, 12 Jun 2011 15:39:53 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-924</guid>
		<description>Just to say i have only just started to play with the arduino and set my self the task of building a balancing robot ,,,i would like to say big big no massive thankyou for publishing your code and software i have made the 1st steps in my project build and thanks to your work i may actually make this damm thing work LOL :-) you code is excellent and gonna be a great help to me with my project big up praises to you and all the guys that contribute --- some one said arduino rocks well i say your stuff is volcanic ( corny i know but just glad you explained so difficult stuff in laymans terms ) cheers :-)</description>
		<content:encoded><![CDATA[<p>Just to say i have only just started to play with the arduino and set my self the task of building a balancing robot ,,,i would like to say big big no massive thankyou for publishing your code and software i have made the 1st steps in my project build and thanks to your work i may actually make this damm thing work LOL :-) you code is excellent and gonna be a great help to me with my project big up praises to you and all the guys that contribute &#8212; some one said arduino rocks well i say your stuff is volcanic ( corny i know but just glad you explained so difficult stuff in laymans terms ) cheers :-)</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: Nanda</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-915</link>
		<dc:creator>Nanda</dc:creator>
		<pubDate>Thu, 02 Jun 2011 13:23:11 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-915</guid>
		<description>Okay.. it works... Thank You very much!</description>
		<content:encoded><![CDATA[<p>Okay.. it works&#8230; Thank You very much!</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: starlino</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-913</link>
		<dc:creator>starlino</dc:creator>
		<pubDate>Thu, 02 Jun 2011 13:00:22 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-913</guid>
		<description>1) For slowness, try to introduce a delay after sending each line (in Arduino code) of at least 10ms to allow computer to process it. 
2) To zoom in / out  use the min/max values in [_default_] or [Field] sections to specify which value corresponds to the top of screen (max)  and which value correspond to the bottom of the chart (min). For accelerometer try  min=256 , max =768 (assuming mid-value is 512).</description>
		<content:encoded><![CDATA[<p>1) For slowness, try to introduce a delay after sending each line (in Arduino code) of at least 10ms to allow computer to process it.<br />
2) To zoom in / out  use the min/max values in [_default_] or [Field] sections to specify which value corresponds to the top of screen (max)  and which value correspond to the bottom of the chart (min). For accelerometer try  min=256 , max =768 (assuming mid-value is 512).</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: Nanda</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-912</link>
		<dc:creator>Nanda</dc:creator>
		<pubDate>Thu, 02 Jun 2011 05:22:28 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-912</guid>
		<description>Hi,

I am building my final project that using accelerometer, i am using your Serial Chart but i have some problems with it,

first, why it response (due to the changing of accelerometer value) become so slow.. my input for serial are :
320,333,367
320,333,367
319,333,367
319,333,366
320,333,367
320,333,366
319,332,366
320,333,367
319,333,366
320,332,366
(represented my analog read of accelerometer using arduino..)

Second, i want to make my chart to be more &#039;zooming&#039;so it will make the detail of the chart bigger,

could you help me how to do/fix those things?

Regards
Nanda Fathurrahman
Wireless Sensor Laboratory EEPIS
wsn.eepis-its.edu</description>
		<content:encoded><![CDATA[<p>Hi,</p>
<p>I am building my final project that using accelerometer, i am using your Serial Chart but i have some problems with it,</p>
<p>first, why it response (due to the changing of accelerometer value) become so slow.. my input for serial are :<br />
320,333,367<br />
320,333,367<br />
319,333,367<br />
319,333,366<br />
320,333,367<br />
320,333,366<br />
319,332,366<br />
320,333,367<br />
319,333,366<br />
320,332,366<br />
(represented my analog read of accelerometer using arduino..)</p>
<p>Second, i want to make my chart to be more &#8216;zooming&#8217;so it will make the detail of the chart bigger,</p>
<p>could you help me how to do/fix those things?</p>
<p>Regards<br />
Nanda Fathurrahman<br />
Wireless Sensor Laboratory EEPIS<br />
wsn.eepis-its.edu</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: IanJ</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-861</link>
		<dc:creator>IanJ</dc:creator>
		<pubDate>Fri, 08 Apr 2011 20:11:17 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-861</guid>
		<description>Update:
Deadband I mention is due to cheap motor/gearbox combo.

Ian.</description>
		<content:encoded><![CDATA[<p>Update:<br />
Deadband I mention is due to cheap motor/gearbox combo.</p>
<p>Ian.</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: IanJ</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-860</link>
		<dc:creator>IanJ</dc:creator>
		<pubDate>Fri, 08 Apr 2011 18:52:17 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-860</guid>
		<description>Hi,

I am building a balancing robot (prototype for a Segway really) and using the IMU &amp; Starlino code, however, I have a few queries:-

Using RwEstX I amd finding there&#039;s too much lag and as a result my motors don&#039;t respond quick enough. So, I have been trying RwAccX which is a good bit faster, but lose the benefits of Est.

On my Arduino (328 powered) I have measure my main loop scan time at over 5mS, which I believe doesn&#039;t help much.

Finally, the output range of RwAccX/RwEstX is -1.00 to +1.00, and so by the time I multiply that up to suit my PWM output values required then I&#039;m losing a good bit of resolution, especially around zero where the deadband created by such means my motors don&#039;t react.

Any hints/tips?

Ian.</description>
		<content:encoded><![CDATA[<p>Hi,</p>
<p>I am building a balancing robot (prototype for a Segway really) and using the IMU &amp; Starlino code, however, I have a few queries:-</p>
<p>Using RwEstX I amd finding there&#8217;s too much lag and as a result my motors don&#8217;t respond quick enough. So, I have been trying RwAccX which is a good bit faster, but lose the benefits of Est.</p>
<p>On my Arduino (328 powered) I have measure my main loop scan time at over 5mS, which I believe doesn&#8217;t help much.</p>
<p>Finally, the output range of RwAccX/RwEstX is -1.00 to +1.00, and so by the time I multiply that up to suit my PWM output values required then I&#8217;m losing a good bit of resolution, especially around zero where the deadband created by such means my motors don&#8217;t react.</p>
<p>Any hints/tips?</p>
<p>Ian.</p>
]]></content:encoded>
	</item>
	<item>
		<title>By: starlino</title>
		<link>http://www.starlino.com/imu_kalman_arduino.html#comment-847</link>
		<dc:creator>starlino</dc:creator>
		<pubDate>Thu, 31 Mar 2011 02:58:06 +0000</pubDate>
		<guid isPermaLink="false">http://imu_kalman_arduino#comment-847</guid>
		<description>The vertical and horizontal grid is measured in pixels , each pixel on the X axis corresponds to a line(sample) of data, the device dictates the interval between each line(sample), you can measure it on device and send it as the first value in the parameter. So you know for example that each pixel is  10ms. So if you have a grid of 50 pixels  each block is 500ms. This is just an example calculation that hopefully clears out the X axis of the SerialChart.</description>
		<content:encoded><![CDATA[<p>The vertical and horizontal grid is measured in pixels , each pixel on the X axis corresponds to a line(sample) of data, the device dictates the interval between each line(sample), you can measure it on device and send it as the first value in the parameter. So you know for example that each pixel is  10ms. So if you have a grid of 50 pixels  each block is 500ms. This is just an example calculation that hopefully clears out the X axis of the SerialChart.</p>
]]></content:encoded>
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