2x1=10

When div­ing into the field of atti­tude detec­tion from sen­sor read­ings a cou­ple of answers seem omnipresent:

• You need an accelerom­e­ter and a mag­ne­tome­ter.
• You need to tilt com­pen­sate.
• You need to low-pass fil­ter.
• Or use the com­pli­men­ta­ry fil­ter.
• Or bet­ter still, use the mys­ti­cal Kalman fil­ter (but it’s too com­pli­cat­ed to explain).

Start­ing from the above and hav­ing an accelerom­e­ter and a mag­ne­tome­ter at hand, the old ques­tion a wise man once asked is:

To tilt com­pen­sate, or not to tilt com­pen­sate, that is the ques­tion—
Whether ’tis Nobler in the mind to suf­fer
The Slings and Arrows of out­ra­geous Stack­Over­flow answers,
Or to take Arms against a Sea of trou­bles,
And by using the atti­tude matrix, end them? To tilt: to roll.

In oth­er words: Is tilt com­pen­sa­tion required? Weit­er­lesen »