zainmehdi

This article is about handling data from a MEMS IMU. There are used abundantly in alot of consumer devices and as a robotics engineer its important to understand important concepts and handling of such data. Often prone to noise, various filtering techniques are needed to refine this data.

Gravity Compensation:

See Madgwick filter for details

Useful Links:

https://stackoverflow.com/questions/60492369/gravity-compensation-in-imu-data

zainmehdi

#include <iostream>
#include <tf/tf.h>

int main(){

  /**< Declaration of quaternion */
  tf::Quaternion q;
  q.setW(1);
  q.setX(0);
  q.setY(0);