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Gyroscope and accelerometer data processing with data fusion to control a simple self pitch angle correction algorithm for the LPCXpresso board.

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strawmark/LPCXpresso-and-servo-control

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LPCXpresso-and-servo-control

Import instructions

Using MCUXpresso IDE, right click in the Project Explorer tab and choose the 'Import' option. Select 'Existing Projects into Workspace' and browse to the .zip archive.

Mounting

Connect the X-NUCLEO MEMS IKS01A2 on top of the LPCXpresso Board.

  • Mount a servomotor underneath the board (make sure that the rotor is in its neutral position). For our experiment the servomotor used is a Parallax 900-00005.
  • Power source for the servo can be obtained connecting it through the MEMS.
  • The PWM signal is taken from the P0_12 pin.

Montage

Notes

If you are interested in observing the sensor measurements, open main.c and uncomment the lines:

Display_Readings(gyro,acc,&yaw,&roll,&pitch_f);        

Using them will greatly hamper the performance of the self correction. These debug messages can be read using the integrated serial terminal or using applications like PuTTY.

Authors

@strawmark

@elibighouse

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Gyroscope and accelerometer data processing with data fusion to control a simple self pitch angle correction algorithm for the LPCXpresso board.

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