Arduino Kalman Filter

asked 2017-03-26 21:14:57 -0500

Cerin gravatar image

updated 2017-03-26 21:16:00 -0500

I have an Arduino Mega acting as a low level controller, forwarding motor encoder, IMU and other sensor data to the host computer.

However, since it's already processing encoder and IMU data, and because my host is a little underpowered processing other sensor data, I'd like the Arduino to use a Kalman filter to produce improved odometry data directly. Is there anything in ROS for this that would run on an Arduino?

I'm aware of a few projects, like robot_pose_efk, but they only seem to run on traditional ARM or x86 architectures.

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Comments

Not Kalman, but Direction Cosine Matrix: Razor AHRS

Be aware that AVRs can not to floating point in hardware, they have to emulate this feature in software, which is slow.

Humpelstilzchen gravatar imageHumpelstilzchen ( 2017-03-27 02:19:37 -0500 )edit

About ROS-package: Most ROS packages need a complete operating system, low level stuff is handled elsewhere.

Humpelstilzchen gravatar imageHumpelstilzchen ( 2017-03-27 02:23:15 -0500 )edit