Mixed signals

[drtonyburns-hash]

I'm using MPU9250_MS5637_AHRS with an ESP32 and an MPU9250. It works.
Response is very slow and I've been playing with the gain and integral. More concerning however, a change in roll directly and greatly impacts both pitch and yaw. A change in pitch affects yaw. A change in yaw only has a slight impact on pitch and roll.

[kriswiner]

I doubt the gain or integral will do much. I would try the Mahoney filter for better performance.

The data needs to be fed into the filter with the NED proper orientation. Looks like the sketch you linked to does this:

MadgwickQuaternionUpdate(-ax, ay, az, gx*PI/180.0f, -gy*PI/180.0f, -gz*PI/180.0f,  my,  -mx, mz);

The only problem might be that in this case yhe x-axis has been chosen to point to North. Maybe this is not the case in your setup. You could also try negating the acceleration. Otherwise this should work properly. Maybe the ESP32 is not able to process the data fast enough? I would recommend using at least 200 kHz gyro data rates.

The other problem is that the Teensy and STM32 can use the float calls...maybe the ESP32 does not have an FPU?

[kriswiner]

FYI ESP32 FPU https://developer.espressif.com/blog/2025/10/cores_with_fpu/

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