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I have searched on the internet on how to get Euler angels from IMU measurements,I found that kalman filter and mahony filter are used...kalman filter has a drawback of complex computations,but mahony has less computation,so mahony is preferred for 8 bit microcontroller,but accuracy of kalman is better than mahony,so my question is ,can we implement kalman filter with its complex computations on 8 bit microcontroller like atmega32

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    This is a very interesting topic, but as the question is written it is hard to understand what answer you are looking for. Can you provide some more background? – MichaelT Mar 18 '19 at 21:03
  • @MichaelT thank you for your interest...I searched on the internet on how to get Euler angels from IMU measurements,I found that kalman filter and mahony filter are used...kalman filter has a drawback of complex computations,but mahony has less computation,so mahony is preferred for 8 bit microcontroller,but accuracy of kalman is better than mahony,so my question is ,can we implement kalman filter with its complex computations on 8 bit microcontroller like atmega32 – Mohamed Mohamed Mar 18 '19 at 21:10
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Sure, it can be done, and simply enough. Here is an implementation in C that could be easily adapted.

It won't be as fast as Mahoney, of course, but the calculations are possible. The question is, is it fast enough for your usage?

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  • Thank you for your interest....did your answer means that if I receive data from IMU(accelerometer,gyro,magnetometer) at high frequencies ,and using atmega 32 ,can some calculated Euler angels using ng kalman be lost as its speed is less than mahony? – Mohamed Mohamed Mar 18 '19 at 21:48
  • That is correct. It reduces the maximum rate at which you can process the angles. – Majenko Mar 18 '19 at 21:49
  • So,using kalman ,IMU frequency should be low? – Mohamed Mohamed Mar 18 '19 at 21:50
  • The Arduino can do nothing else at the same time that it's doing the calculations. That means that you can only do the reading from the IMU at a lower speed because the Arduino is busy doing the calculations. – Majenko Mar 18 '19 at 21:52
  • I am very thankful for your....dear sir,if we use kalman,what is the maximum IMU frequency can be used? – Mohamed Mohamed Mar 18 '19 at 21:54

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