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I encountered the same puzzle. I had a clue at the beginning that the gravity information is contained within accelerometer measurements due to aerodynamic drag. Then I found a paper The True Role of Accelerometer Feedback in Quadrotor Control, which had proved the idea. My simulation also revealed the process of stabilization. As long as a quadcopter ...


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The only sustainable long-term acceleration (for anything terrestrial) is gravity. The Madgwick algorithm uses gravity and a magnetometer to correct gyro drift. Watch the video, then head to the site - there are open-source implementations already written for you in Matlab, C, and C#.


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The point of a complementary filter is combine the low-pass parts of some measurements (e.g. accelerometer) with the high-pass parts of other measurements (e.g. gyro). If the accelerometer perfectly reflected the direction of gravity you wouldn't need the gyroscope part. So practical applications that successfully use complementary filters with an ...


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As Ben noticed, you may want to elaborate on your question, but in general data collection in ROS is performed using tools from the rosbag package. As you'll find when you read the documentation, data (either from a simulation or the real world) can be recorded during a session, but not after it has already finished. Recorded data can be replayed or ...


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First you have to understand that Gyroscope gives angular rates around X,Y,Z axes and Accelerometer gives linear accelerations in X,Y,Z directions. Neither of them gives Roll, Pitch and Yaw values. But you can calculate Roll and Pitch values using the Accelerometer readings. For your question, in order to calculate the quaternion you need to have a 9 DoF ...


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So, first question, is the magnetometer signal processed internally with the magnetometer output to give true angle in relation to horizontal? The MPU-6050 does not have a magnetometer. Secondly, I placed a powerful magnet as close as I could to the chip and the output appeared to be unaffected. This is a perfect result for my application as my design ...


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The Answer is logical simply because its a mathematical statement that explains how calculate Euler angles..from accel measurements...it also explains one of the caveats of using said system. Namely what was suggested in the comments Gimbal lock From the wiki animation one can see that the system can get stuck if rotated in a specific way causing them ...


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