IMU data fusion | Cypress Semiconductor
IMU data fusion
I am looking to do a bit of data fusion on the PSoC. The first thing I want to implement is a "simple" complementary filter ( as per this link: http://www.instructables.com/id/Segstick/step10/A-very-flattering-filter/ ). Stage two is a linear Kalman and stage 3 is an Unscented Kalman filter.
Now, to get the data in I will be using a Pololu IMU v3 - I2C unit. This is working fine and I am getting the readings on the MCU. However, they are in 2s complement form and will need to be integrated.
So my question is: what is the best way to convert 2s complement ( I think the print command is one option) and how can I integrate the signal robustley on the unit? It will be running as part of a more complex system that drives motors and looks at other sensor data, so ideally the integration should be done as fast as possible each loop.