Hints

some useful hints for the development process

MPU-9250

Consider different orientation of magnetic and inertial sensors. When processing sensor-fusion, please exchange axes, like here in MPU9150BasicAHRS.ino:

MadgwickQuaternionUpdate(ax, ay, az, gx * PI / 180.0 f, gy * PI / 180.0 f, gz * PI / 180.0 f, my, mx, mz);

Digital filtering

Direct form 2 transposed implementation

y(n) = b(1)*x(n) + b(2)*x(n-1) + ... + b(nb+1)*x(n-nb) - a(2)*y(n-1) - ... - a(na+1)*y(n-na)

 

Switch between battery and USB-Supply

Auto off

  • P-Channel Mosfet
  • Low On-Resistance (~1Ohm)
  • Low Zero Gate Voltage Drain Current (~µA)

 

 

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