mpu6050 makes its own complementary filtering algorithm based on quaternion attitude solution. The angle obtained is delayed, is it normal?

赵怡彬

mpu6050 makes its own complementary filtering algorithm based on quaternion attitude solution. The angle obtained is delayed, is it normal? [Copy link]

In the actual application process, it is found that when the angle is changed from 0-90 degrees, it will not immediately follow the actual attitude output of 6050, but there is a certain delay. Finally, the actual angle will be reached, and by changing the proportional constant Kp of the complementary filter, the delay time can be changed. The larger the Kp, the smaller the delay time. I use it for quadcopters, and I definitely hope that the facts reflect the attitude situation. So is the larger the Kp, the better? I saw that other people’s Kp is only 0.6 on the flight control algorithm I have. I tried it and the delay is very serious. When Kp=2, the aircraft delays about five or six seconds when changing from horizontal to vertical 90 degrees. Is there any compensation method for this? By the way, is there any method to determine the values of the parameters Kp and Ki of the complementary filter algorithm?