amaury_d

Indeed.

That is surely an extension of this project. However as my introduction states, my primary goal here is not to create energy but to teach.

Thank you for the feedback ! I hope that can help your students have fun and learn. Good luck ;)

Hello ! Great tutorial. To help other readers I would propose a modification though.After studying signal processing quite a bit, I was a bit surprised to read your filter equation in step 5. Indeed the equation the way you wrote it is I think misleading. I don't think the HPF and LPF are corresponding to what you show.The LPF is applied on the acc measures using a standard rolling average: acc_angle_filt = a * pres_acc_angle_filt + (1-a) * acc_angle_measuredThe HPF is applied on the gyroscope angle simply by approximating it by it's rate of change. Indeed in step 4 gyroAngle is defined as "gyroAngle + (float)gyroRate*loopTime/1000;". Then in step 5 it becomes "(float)gyroRate*loopTime/1000;". The HPF is done here.I hope this help. Cheers and thanks for your instructab…

Hello ! Great tutorial. To help other readers I would propose a modification though.After studying signal processing quite a bit, I was a bit surprised to read your filter equation in step 5. Indeed the equation the way you wrote it is I think misleading. I don't think the HPF and LPF are corresponding to what you show.The LPF is applied on the acc measures using a standard rolling average: acc_angle_filt = a * pres_acc_angle_filt + (1-a) * acc_angle_measuredThe HPF is applied on the gyroscope angle simply by approximating it by it's rate of change. Indeed in step 4 gyroAngle is defined as "gyroAngle + (float)gyroRate*loopTime/1000;". Then in step 5 it becomes "(float)gyroRate*loopTime/1000;". The HPF is done here.I hope this help. Cheers and thanks for your instructable !

Thank you for your feedback. About the tinkercad model, it was my plan to share it ! Thanks for reminding me. It's done now, I integrated it in the instructable.