Ed Murphy

## Proof of Concept A proof of concept is available on branch [1097-refactor-game-controller-system](https://github.com/autorope/donkeycar/tree/1097-refactor-game-controller-system). I've also opened a [draft pull request](https://github.com/autorope/donkeycar/pull/1180) to make it easier to see the changes and to...

@Yann377 Great, this is a good project. The documentation has a discussion of the donkeycar [software architecture](http://docs.donkeycar.com/parts/about/), that is a good place to start. The deep learning template is here...

TUM also has open sources some useful Python functions to help with the race line optimization task https://github.com/TUMFTM/trajectory_planning_helpers

Here are some links for integrating IMU and for fusing IMU with GPS - https://pypi.org/project/droneposelib/. dronepose lib is a python library that will make pose estimates based on IMU data....

Here is some python code I generated with ChatGPT to use an MPU9250 to generate pose. Note that I specifically asked to use the mpu9250_jmdev package because that is what...

Here is code that only assumes a a 6 axis acc/gyro like an MPU6050 (so no magnetometer). In integrates (x, y, z) position. Note that we can simply use prior...

Here is an alternative the explicity calculates orientation (pitch, roll, yaw) by integrating the gyro. Note this is not based on a specific library. ``` # # Q: write Python...

code to convert a quaternion to euler angles (pitch, roll, yaw) ``` # # Q: Write the quat2euler function required in the previous response # A: Here's the quat2euler function...

Here is code that used the Madgewick algorithm to fuse acc/gyro/mag into a more accurate orientation. This can be combined with prior examples and integrate acc to produce position so...

Note that the prior examples do not include necessary calibration. See this issue https://github.com/autorope/donkeycar/issues/1071