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Published 20 hours ago • verified publisher icon xioTechnologies

How do you select Beta and Zeta gains in Madgwicks/Tahony ahrs?

Open XaviLC opened this issue 6 years ago • 0 comments

Hi @xioTechnologies

I have a question regarding the value for the beta and zeta of the Magwidck/Tahony ahrs. According to the documentation, the filter gains beta and zeta should represente the bias of the gyroscope.

In am working with the BMI160 IMU and I would like to have its respective gyroscope bias too, is this error the so called Zero-rate offset?

On the other hand, how do you know/calculate the time to get an estable output of the Madgwick filtering (its convergence)?

Thanks in advance,

Regards!

XaviLC avatar Dec 12 '18 09:12 XaviLC