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I posted my source code here and im using the program @mjs513 posted. /* * Note that by default the axis orientation of the BNO chip looks like the following (taken from section 3.4, page 24 of the datasheet). Notice the dot in the corner that corresponds to the dot on the...

IM using the GPS module with Serial protocol. Thats why im using an earlier version.

Can this EKF work without the lat/lon inputs (putting them in zero) and only use velocities on NED frame?

No good news. nan's after 4 iterations of the program. Im using the u-blox 8M (Radiolink SE100), the MPU9250 and all the messages required activated in u-center. I really don't know what's it happening here. Once i connect the GPS, the angles start to alter their values randomly and then nan...

Ill try for the last time. If no results i will change the IMU.

Ive tried your code with a brand new 8M gps module (Radiolink SE100) and im getting the same nan's error. Don't know what is happening because the EKF works fine without the GPS input, once i activate de GPS, it alters the values until it gets nans. Theres something with the GPS input that is...

I just want to make sure that the problem is or not the GPS receiver before getting another one, because im using the correct units, and its a problem that we had before.

I tried the code with the TinyGPS library, which works with 6M receivers, and each value using the specific units you and the repository says but im getting nan's values after a few seconds of running the program. Something i tried was to use only the NED velocity components and put zero on the...

Maybe there a way to use the uNavINS without using the ublox library, using TinyGPS or similar to retrieve the data required by the INS. The problem is that that library doesn't has the way to retrieve the NED velocity in all axes. Ill try my 6M without using the ublox library.

Maybe there a way to use the uNavINS without using the ublox library, using TinyGPS or similar to retrieve the data required by the INS. The problem is that that library doesn't has the way to retrieve the NED velocity in all axes. Ill try my 6M without using the ublox library.

I think the u-blox library doesn't have 6M support.

What GPS module are you using?

The problem is exactly the same you had when it starts to show random numbers until it shows nan's numbers. Maybe you can share your sketch to let me try it? Maybe i have something different in the main code.

Hello! Its me again. Im trying the system with the GPS connected and im getting nan's again. The code without GPS works fine. Any advise?

Thank you! Yes, that was exactly the solution we needed, i changed that variable declaration and now the system is working like a charm. Thank you both for helping me solving this problem and answering me all my questions.

Yes, i think that's exactly what is happening to me. Theres something else that is interfering with the filter.

Now I've adjusted the axis according to your instruction and i have: GYRO's positive when pitching up, rolling right and rotating right. Accelerometer negative when tilted right and front. Negative 9.80m/s/s when stationary. Results: Same random angles values.

I’m pretty sure that’s the error. Let me try again.

The sensor tilted right about 14 degrees: GYROX: 0 GYROY: 0 GYROZ: 0 ACCX: 0.01 m/s2 ACCY: 2.52 m/s2 ACCZ: 9.47 m/s2 As you can see, Z pointing down is positive and the gravity component to the right (Y) is positive. If I’m accelerating inside a car with pitch 0, I got the inertial force like...

No, I’m not using that acceleration, I’m using the mode that I’m getting the total accelerations even when the system is stationary, you can see it in the image I posted yesterday. I’m receiving the gravity acceleration plus any other external accelerations due motion. In the variable...

#include <Wire.h> #include <Adafruit_Sensor.h> #include <Adafruit_BNO055.h> #include <utility/imumaths.h> #include <EEPROM.h> #include <uNavINS.h> #include <ubx.h> uint16_t BNO055_SAMPLERATE_DELAY_MS = 0; Adafruit_BNO055 bno = Adafruit_BNO055(3, 0x29); //3 lugar en EEPROM de la calibracion...

I’ll try again the last version of uNav again reinstalling all the libraries from zero. Iva exactly the same sketch with the difference that I’m getting the same input values from another IMU. Another fact is that I don’t have a source to download the “official” uNav release because the...

Thank you for the answer. According to my system I have already tested that the vertical (z) axis is pointing down, so 9.71m/s2 positive works according the ref. I’ve already tested all the axis possibilities and I’m getting those random reading for roll pitch and yaw. The BNO055 data sheet...

THis is the kind of raw data i have. Gyro in rad/s, accelerations (total, including gravity) in the 3 axis in m/s2 and magnetometer in uT. The linear acc on the picture is like an estimation removing gravity vector but it doesn't work for this purpose so i don't use it.

The master version compiles perfect but i have the graphic i uploaded earlier. The ver6 doesn't compiles to my teensy 4.

I’ll upload the files I’m using this night. For example the Madwick filter uses the same units of your EKF and the input variables are consistent with the frames used in your code. I was looking for the GitHub repository but it’s offline, that’s why I think I’m using a very old version of the...

I’m using the last link of the uNav on this thread. Just asume that the input is in the right units because they work well on the Madwick filter. Maybe can you share me the last stable version of this to try again? I’m getting compile errors with the version 5.

Another theory is that I’m using a very earlier version of this uNav INS because I tried the ver6 and it is not compiling due older versions of UBLOX library. I double checked the units and they are in the units required by your code. Maybe I’m outdated with the libraries.

Thank you for the answer. Im getting the acc, gyro and mag raw data from the sensor with the same units, so in theory this uNav should work fine but im getting those values. Im using the mode that gives the 9 degrees of freedom without fusion.

Im using a BNO055, but the same variables and units with no results.

Also, i think i have not the current libraries for the UBLOX compatible with the latest version of this uNav and the Eigen library neither.

Hello! Im trying to use this uNav INS with my GPS uBlox neo6 and a BNO055. With my current code, i already have every variable needed to send to the Filter.update function, but im getting very random numbers of roll, pitch and yaw. I have all the parameters on the requerid units like m, m/s...

Hello, im new in this forum and first of all i want to thank all the community. Im working in a project using NRF24L01 on my new teensy 4 with this code: #include <SPI.h> #include <nRF24L01.h> #include <RF24.h> const uint64_t pipe = 0xE8E8F0F0E1LL; RF24 radio(9, 10); //CE and CSN float...