Does Crazyflie use MPU-9250 raw data or DMP SensorFusion?

[CliffH]

The InvenSense MPU-9250 has a on-chip Digital Motion Processor (DMP) that has firmware to provide 6 or 9-axis fused and calibrated data. Does Crazyflie 2.0 take advantage of this or fuse the raw data on the ST MCU? If it does not, would performance be better using the InvenSense algorithms?

[tobias]

The Crazyflie and Crazyflie 2.0 uses raw data and does it's own fusion in sensorfusion6. We have at various times started to look at using the DMP fusion but never got the time. One of the drawbacks is that it only fuses at 100Hz and because of the low inertia of the Crazyflie we see stability improvements when running it faster. Currently we run it at 250Hz. See this block diagram.

It would be very interesting to do a comparison though so if anyone has the time and skills we would be thrilled to see the result!

[CliffH]

I'd love to take a stab at it, but I think it's beyond my pay grade.

[theseankelly]

Curious whether anyone has investigated this yet. If not, I might

[tobias]

Nop not yet, it is all yours