IMU-based orientation & control system
Real-time 3D orientation tracking via sensor fusion. An internal R&D project with AHRS on ESP32, quaternion output, calibration and visualisation; first application is an amateur rocket flight computer.
| Field | Detail |
|---|---|
| Type | Internal R&D — civil / embedded |
| Status | Under development |
| Hardware | M5StickC Plus2 (ESP32), MPU6886 IMU |
| Software | Madgwick AHRS, 50 Hz quaternion stream (UDP), Python visualiser with SLERP filtering, CSV logging |
| Mechatree's role | Firmware, fusion and calibration algorithms, visualisation and analysis tools |
Approach
- Direct register access to the IMU over I²C
- Madgwick AHRS for quaternion orientation
- Yaw drift mitigation: gyro bias calibration, threshold zeroing, DLPF tuning
- Telemetry: 50 Hz quaternion stream over UDP
- Analysis: 3D visualiser with SLERP filtering, CSV logging for post-flight analysis
Where it can be adapted
Industrial automation and precision positioning, gimbal and platform stabilisation, motion capture, tilt monitoring for vehicles and machines, orientation tracking in training simulators.
Note: This is an internal Mechatree R&D project, not a client commission. The same architecture can be adapted to client projects.
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