25/11/2019 LSM9DS0 + Teensy + Madgwick Filter Redux: Inverted Mag Z and slow response?

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LSM9DS0 + Teensy + Madgwick Filter Redux: Inverted Mag Z and slow response?

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Thread: LSM9DS0 + Teensy + Madgwick Filter Redux: Inverted Mag Z and slow
response?

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08-18-2016, 08:53 PM #1

Fletcher
LSM9DS0 + Teensy + Madgwick Filter Redux:
Junior Member Inverted Mag Z and slow response?
Join Date: May 2016
Posts: 4 I am working on interfacing a pair of LSM9DS0 IMUs with
some Teensy code to reconstruct the orientation of two
connected rigid bodies (a user's forearm and palm, in this
case). The previous thread here, "Quaternian[sic] is
changing very slowly" was invaluable in getting my setup
running.

My problem: the quaternions update very slowly, no

matter how high I set the beta parameter in Madgwick's
algorihm. Also, I get acceptable results only if I invert the
magnetometer's Z value before passing it into Madgwick.
I've never seen this mentioned anywhere else online in the
context of LSM9DS0 + Madgwick, so I'm very confused
and wondering what I may have done wrong!

My setup: two LSM9DS0s on Adafruit breakout boards

daisy-chained via SPI. My code uses the Sparkfun
LSM9DS0 driver in SPI mode along with a slightly modified
version of Nicholas Robinson's LSM9DS0 AHRS. My
modified version incorporates onehorse's uint32_t fix, and
allows the developer to pass in a SFE_LSM9DS0 object to
the constructor, since I need to run two instances at once
(one per IMU). I am polling at a regular interval (~10ms)
rather than using interrupt-driven processing, to reduce
the number of wires between the devices. This may be a
mistake and I'm willing to reconsider if it ends up being
part of my problem.

I started out using onehorse's Madgwick-for-teensy

implementation, but realized that my environment had a
high level of soft iron distortion (metallic objects all
around) so ended up shifting my Madgwick to the PC so
that I could do all the soft iron correction ellipsoid fitting

https://forum.pjrc.com/threads/36177-LSM9DS0-Teensy-Madgwick-Filter-Redux-Inverted-Mag-Z-and-slow-response?highlight=yaw+problem 1/3
25/11/2019 LSM9DS0 + Teensy + Madgwick Filter Redux: Inverted Mag Z and slow response?

work there, before integrating with Madgwick. I'm using x-

io's C# Madgwick implementation. Again, if there's a
compelling reason to eg: do the Madgwick on the Teensy
and send the center offset and calibration matrix to the
Teensy at startup, I'm open to that, but I don't think it's
my problem? Regardless, I'm using usb serial to ship all
values (accelerometer, gyro and mag xyz) to the PC using
a binary protocol, sending everything as 32-bit floats.

Even ignoring mag calibration artifacts (and testing in the

middle of a large room with ferrous objects pushed to the
walls), I was seeing some really weird things!

Whenever I pitched or rolled the IMUs across the vertical

(ie: from positive to negative pitch, or vice-versa), the
reported yaw of the quaternion generated by Madgwick
would flip by 180! I looked at the LSM9DS0 datasheet (pg
11 / Sec. 1.2) and realized that the magnetometer Z is
flipped relative to the accelerometer output. I tried
inverting the Z axis before passing it into Madgwick and
this weird flip-flopping behavior was corrected! Okay,
awesome, but why has nobody else in the history of the
Internet had this problem? And what other weirdness is it
hiding?

I'm sampling at ~100Hz (teensy is reporting ~0.0102 sec

between samples right now), and I have tried adjusting
my Madgwick gyro measurement error everywhere from
180 deg/s to 0.1 deg/s (beta = sqrt(4f/3f) * PI * (error /
180f); ) -- low beta results in VERY slow quaternion
update; high beta somewhat faster but eventually noisy.

Any idea what I should be looking for here? And how might
my inverted Z be related to everything else?

I can post video of my system, and selected source code;

will just take a minute to capture/process/upload..

Last edited by Fletcher; 08-18-2016 at 10:33 PM. Reason: Added references to

SFE LSM9DS0 and Nicholas Robinson's AHRS code.
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