问题
I'm newbie in sensor and IMU so my question is probably very basic for others, but it's already puzzled me for days.
I'm using Mahony's algorithm to calculate Euler angle of my device; the three angles looks correct when put the device static or move/rotate the device slowly; however, the Yaw angle will become unstable and incorrect if rotating the device fast. Could someone help me solve this issue ? My device uses MPU-9150, I use the 6 parameters method of Mahony algorithm, that is to say, only gyro and accelerometer is involved.
This type of question is hard to address without debugging the real code. So I will pay $500 for anyone who can meet with me and help me find out the issue in my code (IOS); I will also pay for any transportation and other expense. But please make sure you are experienced in this topic and are confident to solve the issue, otherwise I'll only pay portion of money.
I live in New Jersey, so anyone from NJ or NY is welcome; please leave me message if you want to help.
thanks,
Dihan
来源：https://stackoverflow.com/questions/26540861/mahonys-algorithm-yaw-angle-becomes-unstable-when-rotating-device-fast