sensor - Converting angular velocities to orientation Wii Motionplus -


i'm working on wii motionplus , i've extracted raw values using wiimotelib library. however, when normalize it, random values don't tally happening.

this how i'm normalizing:

  1. calibrate motionplus (i.e. find raw value corresponds zero; holding stationary point of time)

  2. for every subsequent raw value read, subtract 0 value "relative" raw value.

  3. then, scale value using http://wiibrew.org/wiki/wiimote/extension_controllers (checking yaw_fast, pitch_fast etc.), numerical values computed using measure (raw value of 8192 corresponds 595 deg/s)

  4. i sum these values on time (discrete integration) angle of wiimote wrt initial orientation.

however, when calculate , plot out on graph, step change in 1 of axes not being reflected in graph. tried using digital compass compare, while compass reflects values correctly, wii values different (even pattern not same)

can tell me i'm going wrong normalization?

thanks!

the numbers being sent out rotations x y , z axis respective itself. in order relate x,y,z coordinates need use rotation matrix, , since rotation readings not fixed axis depend on orientation @ need use euler matrix relate fixed x,y,z coordinate

in other words receiving roll, yaw , pitch velocities , need use euler matrix relate cartessian coordinates. once know initial roll, pitch , yaw can add next reading of roll, pitch , yaw initial times time interval that reading applies to.

roll rotation y-axis

pitch rotation x-axis

yaw rotation z-axis


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