brtaylor
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    • brtaylor
      That's a good idea, I'll have to read through their library. The commit mentioned with the two different read methods for the mag is eb4b930 on the icm-dev branch.
    • brtaylor
      Updated the icm-dev branch to include a driver for the AK09916. Two read methods are defined: 1. Read1 - starting from AK09916 register ST1, does a block read up to and including ST2. After the bulk read, check the ST1 register to see if the data...
    • brtaylor
      I've been working on updating my InvenSense IMU library to include support for the ICM-20948. It is located here in the "icm-dev" branch: https://github.com/bolderflight/invensense-imu/tree/icm-dev The sensor has a 6 DOF IMU and a 3 DOF mag all...
    • brtaylor
      brtaylor replied to the thread New Madgwick Fusion Filter.
      Looks like setting I2C_IF_DIS right after boot enables SPI Mode 3 to work with Teensy.
    • brtaylor
      brtaylor replied to the thread New Madgwick Fusion Filter.
      Seems to work on SPI Mode 0 instead of Mode 3. Noticed a note about setting I2C_IF_DIS immediately on power up, going to see what that does. Still need to test the DRDY.
    • brtaylor
      brtaylor replied to the thread New Madgwick Fusion Filter.
      @mjs513, thanks! I created a branch of my library here to work on integrating the ICM-20649: https://github.com/bolderflight/invensense-imu/tree/icm-dev It seems to work with STM32, but I can't communicate with the sensor using SPI and Teensy...
    • brtaylor
      brtaylor replied to the thread New Madgwick Fusion Filter.
      @mjs513, were you ever able to get the data ready interrupt to work on the ICM-20649?
    • brtaylor
      I meant no drops of RTK, but I understand what you're saying now. I'd have to go back and sift through the data. We were feeding the GPS data through an EKF with IMU data to get a state estimate at a higher rate, so an occasional frame drop from...
    • brtaylor
      Agree with Andy, most of the time we setup the module using u-center and then just parse the messages. UBX-NAV-PVT is good for most situations. If you use the ZED-F9P, you would probably also want UBX-NAV-HPPOSLLH in addition to the UBX-NAV-PVT...
    • brtaylor
      I use uBlox modules and the UBX binary format. I like the SAM modules if I'm looking for something low cost and the ZED-F9P modules if I need accuracy or am planning on using CORS or RTK. Parsing the binary data is much more efficient than...
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