Wii motion plus code#

Int readings // the readings from the analog input (gyro) #define NUMREADINGS 5 //Gyro noise filter Altered by Adrian Carter to work with WiiM+ and Nunchuck Si deseas la version en Espanol, no dudes en escribirme.

Wii motion plus code#

Kalman Code Originally By Jordi Munoz. Requires the WM+ and Nunchuck to be connected to Arduino pins D3/D4 using the schematic from Knuckles904 Also uses 'new' style Init to provide unencrypted data from the Nunchuck to avoid the XOR on each byte. Nunchuck joystick provides corrections - X for Gyro, Y for Accelerometer But the numbers on the other axis’ are clearly screwy ! :-[ // Modified Kalman code using the Y-Axis from a Wii MotionPlus and the X and Z from a Nunchuck. Its a modification of Ed Simmons code which also shares the same roots as mine from The first line of output - Jordi’s original 1-axis kalman works fine still. I’ve had a play, and think I have it kind of working with 3 axis incorporated. I know the gyro data is off in the kalman filter - obviously need to play with some numbers - but i’m not real sure on to what and where ! The bits I am completely vague on - most of the Kalman stuff D D I have tried to extend it to all 3-axis, but I think its off somewhere… I eventually would love to incorporate this with GPS data … But first things first, I want to extend the code to work properly to make a 6DOF IMU from Nintendo bits !! So any help here would be greatly appreciated.

I have also switched the Nunchuck Init code to use the ‘new’ style init, which means the Nunchuck data is Non-Encrypted, avoiding the need to XOR the bytes… I have taken this work and combined it back into Jordi Muñoz’s Kalman Filter example used in ArduPilot