[USRP-users] E310 IMU

Jason Matusiak jason at gardettoengineering.com
Mon Mar 18 13:37:08 EDT 2019

As usual, I should have emailed days ago since I found the answer just afterwards.

Using the code from here: https://github.com/kriswiner/MPU9150/blob/master/MPU9150BasicAHRS.ino

I was able to get good values.  q[0] is w in his equation.

From: Jason Matusiak
Sent: Monday, March 18, 2019 12:40 PM
To: Ettus Mail List
Subject: E310 IMU

I've started playing with the E310's IMU and I keep seeming to go around in circles.  All I really want is a heading.  I have my own app that is heavily borrowed from the RTIMULibDemo included on the device (and from github), but I can't seem to get the heading still right when dealing with the quaternions (and I've googled a 100 different things and never seem to get the right answers when I try their equations).

I am sure I am making some small thing overly complicated, but I have been stuck for a couple of days now.  The frustrating thing is that if I plot in wolframalpha (say "draw .646-.258i-.675j-.233k as a rotation operator"), the plot perfectly mimics what I was doing with the E310 when I captured that data.  So trying to figure out how to determine that I have a heading 45 degrees off of North in that dataset is beyond me.

Anyone played with the E310 IMU stuff further?
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