Angle measurement for balancing robot.

[Kamikaze47]

Sorry to drag up an old thread, but did anyone ever manage to get a Kalman filter implemented successfully in PBP?

I'm hoping to apply a Kalman filter to accelerometer and gyroscope readings to obtain a tilt measurement and I figured I'd ask if someone has done this in PBP before attempting to port the C code full of floats and matrix multiplication into PBP.

[HenrikOlsson]

Hi,
Not me.... But I'm sure it can be done with PBP, PBPL provides enough bits to get the resolution and but to be able to do it you need to actually understand how it works - which I don't :-(

If you understand the Kalman theory and/or how the C code works I'm sure that we, collectively, can work it out if we take it step by step.

I'd really like to see working Kalman filter in PBP as well.

/Henrik.

[Kamikaze47]

I've been researching it and i'm starting to understand it better. I can certainly follow the C code, but theres a lot of things in there that arent so easy in PBP, like floats, matrix manipulation and trig like arcsin.