Hi! I am developing a 3 axis gimbal system for drone camera stabilization. I am using 3 brushless motor and two IMU (accelerometer and gyroscope) sensors as a position feedback. Now I have coded one IMU and it works - I can stabilize the camera, but in limited ranges.
My idea is to define a few frames of reference based on quaternion and calculate error between each other.
Please offer only if you have experience with IMU, AHRS algorithms and have great math knowledge in quaternion algebras.
You can write algorithms in pseudo-code or well explain - I rewrite it to C language.
What I need is well explained in this video [login to view URL]
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