Gyro data is not reflected

[ArusTaimika]

We are trying to estimate the attitude using the IMU of the Madgwick filter.
However, the gyro data is not reflected and the attitude estimation is wrong.
The code used is as follows.
Graphs of the acquired acceleration, gyro, and estimated attitude are also attached.
Can you tell what is causing this?
If it is my mistake, I really apologize.

q = ahrs.filters.Madgwick(gyr = np.array([g]),acc = np.array([a]))
qq= ahrs.common.Quaternion(q.Q[0])
self.euler = qq.to_angles()

[Mayitzin]

Hi, can you share more of your code? What I can see is the following:

• You estimate all orientations as Quaternions from a set of gyroscope measurements (all stored in g) and accelerometers (all stored in a)
• q is the Madgwick object, whose estimated quaternions are stored in Q.

From here only 1 quaternion is used:

• qq is the first estimated quaternion only (Q[0]) stored as a single Quaternion object.
• From this Quaternion object (corresponding to the first quaternion only) you get the Euler angles using its method to_angles().

My questions are:

• After you estimate all quaternions with Madgwick, what do you do with the rest?
• Is the call to self.euler = qq.to_angles() performed more than once?
• If so, consider updating it, as you are calling it all the time with the same quaternion (Q[0])
• The class QuaternionArray could be useful to simplify and accelerate your estimations. It is used similarly.

  madgwick = ahrs.filters.Madgwick(gyr=np.array(all_gyro_samples), acc=np.array(all_acc_samples))
  QQ = ahrs.QuaternionArray(madgwick.Q)
  euler_angles = QQ.to_angles()