{"action":"created","issue":{"url":"https://api.github.com/repos/cyoung/stratux/issues/423","repository_url":"https://api.github.com/repos/cyoung/stratux","labels_url":"https://api.github.com/repos/cyoung/stratux/issues/423/labels{/name}","comments_url":"https://api.github.com/repos/cyoung/stratux/issues/423/comments","events_url":"https://api.github.com/repos/cyoung/stratux/issues/423/events","html_url":"https://github.com/cyoung/stratux/pull/423","id":156126416,"number":423,"title":"Initial AHRS Implementation","user":{"login":"ccicchitelli","id":11140689,"avatar_url":"https://avatars.githubusercontent.com/u/11140689?v=3","gravatar_id":"","url":"https://api.github.com/users/ccicchitelli","html_url":"https://github.com/ccicchitelli","followers_url":"https://api.github.com/users/ccicchitelli/followers","following_url":"https://api.github.com/users/ccicchitelli/following{/other_user}","gists_url":"https://api.github.com/users/ccicchitelli/gists{/gist_id}","starred_url":"https://api.github.com/users/ccicchitelli/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ccicchitelli/subscriptions","organizations_url":"https://api.github.com/users/ccicchitelli/orgs","repos_url":"https://api.github.com/users/ccicchitelli/repos","events_url":"https://api.github.com/users/ccicchitelli/events{/privacy}","received_events_url":"https://api.github.com/users/ccicchitelli/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":35,"created_at":"2016-05-21T23:27:36Z","updated_at":"2016-05-31T20:39:23Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cyoung/stratux/pulls/423","html_url":"https://github.com/cyoung/stratux/pull/423","diff_url":"https://github.com/cyoung/stratux/pull/423.diff","patch_url":"https://github.com/cyoung/stratux/pull/423.patch"},"body":"This file contains the base math needed to calculate AHRS and output an attitude as XYZ. It is based on the PhD work of Sebastian O.H. Madgwick in 2010. \r\n\r\nSensor data of 512 Hz should result in less than 0.6 degree static RMS error and less than 0.8 degree dynamic (i.e. while turning and accelerating) RMS error. \r\n\r\nThere are ways to adjust this depending on how precise the sensors are. I don't have one to test, so I built this on spec. We can tweak from here if needed.\r\n\r\nTo get the attitude for a UI display, simply call GetCurrentAttitude(). This will return X, Y, and Z values as a 32 bit float. Internally, the attitude is calculated as a quaternion every time the sensor data is updated, but it's not converted to XYZ float values until GetCurrentAttitude() is called.\r\n\r\nFurther, as I'm not familiar with Go, I attempted to convert the invSprt function from C to Go, but I'm not sure if it will work. You'll have to test this function and adjust it if needed."},"comment":{"url":"https://api.github.com/repos/cyoung/stratux/issues/comments/222812967","html_url":"https://github.com/cyoung/stratux/pull/423#issuecomment-222812967","issue_url":"https://api.github.com/repos/cyoung/stratux/issues/423","id":222812967,"user":{"login":"ccicchitelli","id":11140689,"avatar_url":"https://avatars.githubusercontent.com/u/11140689?v=3","gravatar_id":"","url":"https://api.github.com/users/ccicchitelli","html_url":"https://github.com/ccicchitelli","followers_url":"https://api.github.com/users/ccicchitelli/followers","following_url":"https://api.github.com/users/ccicchitelli/following{/other_user}","gists_url":"https://api.github.com/users/ccicchitelli/gists{/gist_id}","starred_url":"https://api.github.com/users/ccicchitelli/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ccicchitelli/subscriptions","organizations_url":"https://api.github.com/users/ccicchitelli/orgs","repos_url":"https://api.github.com/users/ccicchitelli/repos","events_url":"https://api.github.com/users/ccicchitelli/events{/privacy}","received_events_url":"https://api.github.com/users/ccicchitelli/received_events","type":"User","site_admin":false},"created_at":"2016-05-31T20:39:23Z","updated_at":"2016-05-31T20:39:23Z","body":"Chip arrived! Will play around tonight. I'm spinning up a linux vm so I can do test builds here. "}}
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