Hi guys, I finally have a sensor fusion algorithm which gets the values from an accelerometer, a magnetometer and a gyroscope and computes correctly the orientation of the sensors in respect to the world. See http://www.varesano.net/blog/fabio/initial-implementation-9-domdof-marg-imu-orientation-filter-adxl345-itg3200-and-hmc5843-a
I'm now able to get the values computed by the sensor array on Arduino into Soya, using threads and pyserial. Now, the sensor fusion algorithm gives me a quaternion representing the orientation of the sensor array in respect to the world (eg: so that the yaw angle computed is the angle between the X axis of the sensor and the Hearth north and so on..) .. Now, I'm stuck on how to convert this quaternion to something which I could use in Soya. I also do have methods to correctly calculate yaw, pitch and roll (respect the real world) but I've not been successful using them in Soya. The idea is to have a body in Soya which should move as the sensors moves (just like in the processing application linked above) so I guess I probably have to align the world frame to the Soya scene, an hint on this would be appreciated. Thank you, Fabio Varesano _______________________________________________ Soya-user mailing list Soya-user@gna.org https://mail.gna.org/listinfo/soya-user
