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  • mjs513's Avatar
    Today, 12:21 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    They shouldn't be lost as long as the battery is working on the unit. Just remember to flash the settings from the CFG (Configuration) menu. Just saving after you change a setting won't do it. The only time it won't...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    Yesterday, 11:54 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Brian. You talking about doing something like in this paper:
    170 replies | 6097 view(s)
  • mjs513's Avatar
    Yesterday, 10:47 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Thanks Brian - just scrolled down after your comment and saw that.
    170 replies | 6097 view(s)
  • mjs513's Avatar
    Yesterday, 10:17 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian Glad your making progress. Been doing some simple tests, besides writing a simple generic function to print Eigen Matrices. One of things I noticed with the 7-state was the drift corresponded to q0/q3...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    Yesterday, 05:58 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian Right now I let the filter run for over an hour both in steady state and after rapid movement (to see it goes back to its approximate starting point). In both cases the drift is still there, while small...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    Yesterday, 04:51 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Don With your approach aren't you now getting into the realm of an adaptive kalman filter. I've seen some papers/thesis that use a very similar approach as you are describing. Mike
    170 replies | 6097 view(s)
  • mjs513's Avatar
    Yesterday, 02:17 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Don, that sound like what I am seeing after movement. But I am still seeing drifting - maybe I will give a different sensor breakout board a try tomorrow. Not sure how you would do that without re-doing the sensor...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    Yesterday, 01:42 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Brian Still playing with some settings but I noticed when I changed sensors (onehorse I2c to the emsensr-9250 spi) a issue cropped up with the gryo biases. Gbz has a small variance compared to gby and gbx. gby/gbx...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-18-2018, 11:39 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Don, Connections look like. The only thing is VDDIO, I know on my EMSENSR-9250 I have to connect that to 3.3v to work. Just checked the sparkfun page and it looks like you may have to that also... From what I read...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-18-2018, 11:04 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Running the filter at 100hz (srd = 9) and after some rapid movement it looks like I loose the gyro's, here is a screen shot: The only way to recover is resetting the Teensy. I have another 9250 so I can give that a...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-18-2018, 09:26 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian. Thanks for the function. By the way was doing some testing on the pre-GitHub release and yes I did see drift with yaw. Also, if I moved it rapidly and put it back to its approximate starting place the...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-18-2018, 07:48 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Thanks Brian. Found some time and was just working on calls for the data from library. You saved me time. Mike Question: is there an easy way to the quats without individual calls? Just added this function...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-18-2018, 04:31 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian A quick question if I may. Just want to be sure that _Quat(0 to 3) corresponds to qw, q1, q2, q3 respectively. I am assuming it does but if I have a 50 50 chance I always pick the wrong one Thanks Mike
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-18-2018, 03:40 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    It would be a waste not to do it. One of the best approaches I have seen was in a presentation where the theory is presented first then it is broken down step by step with the equivalent code next to next to it with...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-18-2018, 02:35 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Don. Tried to duplicate it but just not seeing the nans for some reason. That's what I am going to do next. Wanted to make sure I understood how Tviewer worked first. I also printed out the sensor statistics...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-17-2018, 11:13 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Don Been busy getting Tviewer working. But anyway, went back and did some testing with the Brian last set of changes for the 4state. The heading is right on with respect to my real compass. Tried using the...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-17-2018, 08:08 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian Just loaded up your new version and just a couple of observations out of the box to help in the analysis. 1. When held motionless or turning gently the measured heading tracks almost as the mean of the raw...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-17-2018, 07:02 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    When you do the update I will give it a shot = both ways to see what happens.
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-17-2018, 06:43 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian Quick question, is there a reason you are not using doubles instead of floats for the matrices?
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-17-2018, 12:51 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Good morning all. Just to let you know I tried out Tviewer with Brian's latest sketch and rather impressive for plotting. Thanks, Don for the reference. Biggest challenge with it is what to really plot to see...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-17-2018, 01:17 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    The raw measurements is about what I was seeing in uNavAHRS code after I did some tweaking of the aQ but the measured heading is hanging in there like you said. Using the first version of the 4state I see drift but...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-16-2018, 11:40 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian Will give it a try later but I do have a question for you on the time step. When I converted Matt Watson's version of the EKF I passed it dt as measured from predict start to update end then did all the...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-16-2018, 06:41 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian Just sent it off to you. I converted the code from a Matlab script so I hope I got it right :). Here is the link to the repository instead of search for it, https://github.com/matthew-t-watson/Picopter
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-16-2018, 06:30 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Thanks defragster - think I hate you - just ordered one. When I did a full calibration I got: By the way for local sea level pressure I usually get it from http://www.aviationweather.gov/metar?gis=off, metars/adds...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-16-2018, 05:38 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Looks like I missed a few posts while I napped :) Don, anytime you feel comfortable sharing I am willing to give it a try. defragster I am attaching right now. Forgot where I got it from though. Onehorse had...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-16-2018, 05:26 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    @defragster. Did you run the Brian's calibration sketch that he included in the uNav library. Probably should be moved to the MPU9250 library in the future, hope Brian is reading this :)
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-16-2018, 01:01 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    @defragster. BaroSensor.h is from a MS5637 library I use with Onehorse's mpu-9250. You don't really need it to run the filter. Forgot all about it, I was so engrossed with the getting the Filter to work. Just...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-15-2018, 11:23 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Don Been working on the approach used in the thesis that I sent you. The previous version is not the one described in the thesis. It was a matlab file that I thought was converted. When all said and done its...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-15-2018, 12:31 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Sorry, I am running it as a I2C device on a T3.1. Probably going to try it on a T3.5 and see what happens. Got it run with your changes and seems fairly stable and off about my mag declination in NYC which is about 13...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-14-2018, 11:19 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Figured it out : DLPF is equivalent to :DLPF
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-14-2018, 10:20 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Don. Quick question - all you did was set Fsys to identity? in the .h file? MIke
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-14-2018, 06:39 PM
    mjs513 replied to a thread uNav INS in General Discussion
    Ok. Yaw is terrible but I can't figure it out. Here is what I have so far. Mike
    37 replies | 1106 view(s)
  • mjs513's Avatar
    01-14-2018, 06:23 PM
    mjs513 replied to a thread uNav INS in General Discussion
    Just sent it to your email. I will take a look at changing Fsys as well. Got the new version working with the 9250 but getting some strange results. It seems if that I have to reset the MPU9250 a few times to get...
    37 replies | 1106 view(s)
  • mjs513's Avatar
    01-14-2018, 04:58 PM
    mjs513 replied to a thread uNav INS in General Discussion
    Don-Brian Think I mentioned last year that I found a implementation of the Kalman Filter for quaternions (4-state). The C++ files are located at https://github.com/matthew-t-watson/Picopter. I am not sure his...
    37 replies | 1106 view(s)
  • mjs513's Avatar
    01-13-2018, 10:42 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Just for the record I am not using Brian's built accel/magnetometer calibration methodology. I am using a calibration file that is generated from a calibration GUI similar to one the Paul uses for the propshield that...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-12-2018, 06:22 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Don Just gave it quick run (short time span a couple of minutes) I got about 15 degrees.
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-12-2018, 04:40 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Don Haven't tried Heading yet. Will give it a try in a little while. As Brian pointed out he does the axis transformation within the 9250 library. I have been doing the same type of transformation with most...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-12-2018, 09:44 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Just tried the same thing and saw the same behavior, with the exception that the variation I saw was about half what you saw :). Trying to get Paul's nxpKalman filter working with the Brian's 9250 library for...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-12-2018, 01:52 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Thanks for the link to the Telemetry viewer, definitely want to give that a try, never came across that one before. Good luck with the changes. By the way, just for reference I am using a T3.2 for these tests. ...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-12-2018, 01:33 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Don With the changes made by Brian I am actually now using the libraries default values for AccelCovariance, HeadingCovariance and MagSrd. I have SetSRD = 9 and DLPF to 20 along with the aq changes I made. So...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    01-11-2018, 05:27 PM
    mjs513 replied to a thread uNav INS in General Discussion
    Hi Don. Just my 2cents here. To be honest haven't started playing around with the 15State Kalman, still cutting my teeth you might say on the 7-state one. Anyway, Like you said both approaches have its plusses and...
    37 replies | 1106 view(s)
  • mjs513's Avatar
    01-10-2018, 12:31 PM
    mjs513 replied to a thread uNav INS in General Discussion
    Hi Don, Don't think Brian has changed any of the sensor characteristic values in his 15-state filter. Based on all the tests I did they will probably have to be tweaked. I haven't really dug too deep into this...
    37 replies | 1106 view(s)
  • mjs513's Avatar
    01-10-2018, 12:28 PM
    @degragster: My 9250 fork/pull request was actually against Brian's old MPU9250 library that used the i2c_t3 library. He recently changed to use just wire/spi so the library could be used on other boards besides the...
    157 replies | 34979 view(s)
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    01-08-2018, 09:06 PM
    mjs513 replied to a thread uNav INS in General Discussion
    Hi Brian You might want to check out the following thread on magnetic disturbance, https://forum.pjrc.com/threads/33902-Prop-Shield-NXPSensorFusion-observations?highlight=magnetic+disturbance. For zero motion...
    37 replies | 1106 view(s)
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    01-08-2018, 06:40 PM
    mjs513 replied to a thread uNav INS in General Discussion
    What would be more interesting is if there was a way to redo the gyro bias periodically while the filter was still running. For instance if there is zero motion for short period of time the recalculate the biases. You...
    37 replies | 1106 view(s)
  • mjs513's Avatar
    01-08-2018, 06:30 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian. I adjusted the process noise as follows everything else is the same as your example sketch except dlpf is 20: aQ(0,0)=aQ(1,1)=aQ(2,2)=aQ(3,3)=0.000005; aQ(4,4)=aQ(5,5)=aQ(6,6)=0.0000001f; ...
    170 replies | 6097 view(s)
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    01-06-2018, 08:25 PM
    mjs513 replied to a thread uNav INS in General Discussion
    Just for sake of completeness the gryo values I used was raw values divided by sensitivity. Not sure if I should of done that or not. Let me know if you want me to re-run the data. Don't think it will make much of a...
    37 replies | 1106 view(s)
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    01-06-2018, 02:07 AM
    mjs513 replied to a thread uNav INS in General Discussion
    @defragster - did you download the zip and open the pdfs? If not I will upload the reports individually.
    37 replies | 1106 view(s)
  • mjs513's Avatar
    01-06-2018, 01:18 AM
    mjs513 replied to a thread uNav INS in General Discussion
    Hi Brian Spent the day playing around with allan variance. Finally finished collecting the data (847K points). I have attached a few plots for you. Still need to go through them and see what I can come up with for...
    37 replies | 1106 view(s)
  • mjs513's Avatar
    01-05-2018, 10:36 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian, I just updated the library to your latest version and there still seems to be a problem with yaw. Did dig into yet much but as they say a picture is worth a thousand words:
    170 replies | 6097 view(s)
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    01-03-2018, 11:07 PM
    mjs513 replied to a thread uNav INS in General Discussion
    Hi Brian. Wow. Just a little more complicated:). Any way I am starting making my way through this and the first thing is defining the error characteristics of navigation parameters. This is a little different than...
    37 replies | 1106 view(s)
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    01-03-2018, 02:03 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Don - Brian One other thing I just noticed was the magSRD value was set to 0 while in the original code it was set to 5. I changed the parameters to the following: Filter.setAccelCovariance(0.025f); ...
    170 replies | 6097 view(s)
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    01-02-2018, 09:35 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Great Brian, can't wait. Like you said it was interesting to play around with anyway.
    170 replies | 6097 view(s)
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    01-02-2018, 06:44 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Brian. Figured but had to make sure. I tried several variations but not matter what I tried I always saw yaw diverging when the 9250 is flat and at rest. Can't think of anything else.
    170 replies | 6097 view(s)
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    01-02-2018, 03:02 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian. I can't seem to let anything go until it works. Going through the code I noticed that you had the following in the micro-Nav code: // new calibration data (uNAV#?, tested on 10=06=07) static float K_G =...
    170 replies | 6097 view(s)
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    12-31-2017, 05:39 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian. Took your suggestion and went ahead and compared the GitHub code to the uNav code. Except for a couple of questions and observations everything looks ok: 1. Question: Where did you get they equations...
    170 replies | 6097 view(s)
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    12-30-2017, 04:38 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Source and exe can be found here: https://github.com/mjs513/FreeIMU-Updates/tree/master/FreeIMU_GUI. I also have a wiki page about it here: https://github.com/mjs513/FreeIMU-Updates/wiki/04.-FreeIMU-Calibration, a...
    170 replies | 6097 view(s)
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    12-30-2017, 02:32 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Its part of my FreeIMU library. If you are all interested I can modify the Brian's calibration sketch to make it compatible with his calibration method. There are slight differences in the way they work. Edit:...
    170 replies | 6097 view(s)
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    12-30-2017, 03:08 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Brian, I loaded up my sketch that allows me to output to a ellipsoid model for accel and magnetometer calibration. I ran a test for 2g/250dps and 16g/2000dps. As could be expected the magnetometer was exactly the same...
    170 replies | 6097 view(s)
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    12-30-2017, 01:00 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian. I was looking at the calibration code for the accelerometer but it looks like you are calibrating the accelerometer at 2g and then resetting the accelerometer range back to whatever range was selected by the...
    170 replies | 6097 view(s)
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    12-29-2017, 11:52 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Don. That's pretty much what I am doing. It pretty much matches the link pointed to: The mag is a little different: https://lh3.googleusercontent.com/el...6Kmd234n4=w350, but I do it the same way as you and get...
    170 replies | 6097 view(s)
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    12-29-2017, 09:43 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    I used these settings on the T3.2 and seems to made a big difference. // setting the accelerometer covariance Filter.setAccelCovariance(0.025f); // setting a 41 Hz DLPF bandwidth ...
    170 replies | 6097 view(s)
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    12-29-2017, 09:14 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian. I gave your changes a shot on a T3.2 exactly as show above using hw999 sketch as a base (printing data every 100 ms). Yaw is drifting terribly. The first screen shot is just leaving the board motionless...
    170 replies | 6097 view(s)
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    12-29-2017, 02:32 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    @hw999 and @brtaylor. I am seeing the same behavior on the T3.2. On a T3.5 I do not see the same behavior. One possibility is that the T3.5 has a FPU for floats as opposed to a T3.2. This is just a guess on my part. ...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-28-2017, 05:23 PM
    @Paul, thanks for sharing your past experiences, it helps with understanding the practicalities of getting a new product out the door. Know I don't have experience to be of much real help like @KurtE, @defragster,...
    103 replies | 7651 view(s)
  • mjs513's Avatar
    12-28-2017, 02:19 PM
    I think one of the challenges with the new design is how much of the chip capabilities you want to break out for users. If you look at the i.mx rt 1050 block diagram...
    103 replies | 7651 view(s)
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    12-28-2017, 04:29 AM
    Hi Brian, I have a windows app that was converted from python that does exactly what you want. It is essentially Fabio Versano wrote for his FreeIMU. Had to make a couple of minor modifications though. If you...
    157 replies | 34979 view(s)
  • mjs513's Avatar
    12-27-2017, 06:21 PM
    Hi Brian, One of the things that the AP Groundstation does for accel calibration is let you know what axis to do then does the switch. Was thinking about adding that to the switch prints just so I remember what axis...
    157 replies | 34979 view(s)
  • mjs513's Avatar
    12-27-2017, 03:02 PM
    For me, I upgraded to the T3.5 from the mega for the combination of all the factors mentioned, 5V tolerance, pin count, performance (memory, speed, FPU, etc). It was also the form factor that attracted me, I could...
    103 replies | 7651 view(s)
  • mjs513's Avatar
    12-26-2017, 10:20 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    No you don't need the master part. I wanted to make sure you had a eigen directory in your libraries folder that had eigen.h and the Eigen sub directory that you downloaded. Should have explained that in my previous...
    170 replies | 6097 view(s)
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    12-26-2017, 08:43 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    That's exactly what I did and worked no problem. Update: Make sure you have Eigen-master in you Arduino libraries folder. Also, if you downloaded a previous version either move it out of the libraries folder...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-23-2017, 11:26 PM
    Now that you mention it. Not really. Could do it with one. Would simplify the whole thing Yeah, that what I was reading when I looked up multiple locks. Thanks for the help and the lesson on locks. Always got...
    350 replies | 47980 view(s)
  • mjs513's Avatar
    12-23-2017, 10:25 PM
    Ok so if I do something like this: Threads::Mutex wire_lock; Threads::Mutex serial1_lock; struct ublox { double lat; double lng; int fType; int fQuality;
    350 replies | 47980 view(s)
  • mjs513's Avatar
    12-23-2017, 08:54 PM
    Hi tonton81. Lets see if I understand your approach with a little example on scope lock's (still gives me a headache) using something like thomas7's example: float roll; Threads::Mutex GPS; Threads::Mutex IMU; ...
    350 replies | 47980 view(s)
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    12-23-2017, 06:18 PM
    I am trying to set up a structure where the whole structure is atomic. Found there are some issues with doing it this way. i.e., not being able to reference/change members of the atomic structure that I managed to...
    350 replies | 47980 view(s)
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    12-21-2017, 01:35 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Thought I would give the MPU9250 lib and uNAV a shot on a ESP32. After a few modifications to adjust for no EEPROM and different wiring pins would up with 813us using I2C. This is just a FYI in case anyone is...
    170 replies | 6097 view(s)
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    12-19-2017, 04:00 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    That's why I switch over to that breakout so I could test the sketch with the INT pin since the other one I had does not have it broken out. Just remembered I have another 9250 for spi only - will give that one a try -...
    170 replies | 6097 view(s)
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    12-18-2017, 09:04 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Just ran the example sketches with Onehorse's MPU-9250 and getting about 735 us on I2C. Redid the calibration of course and the yaw is rock solid as opposed to my initial comment. I don't have a 9250 with an INT and...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-17-2017, 08:52 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian Thanks for the reference material. Yes the library is working fine, the issue is just with particular breakout board I have, no INT available. I picked this one because it had a pressure sensor on the...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-17-2017, 02:19 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian Quick question. Do you have a copy of the jang&licardo paper you can share. Can't seem to find a free copy online? thanks Mike
    170 replies | 6097 view(s)
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    12-17-2017, 02:12 PM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Even outdoor GPS is not very accurate, found you can be about 30 feet off without a problem. Started playing around with RTK using old Neo-M8N's. Probably will upgrade those to m8t's soon. Anyway, you can get down to...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-17-2017, 08:42 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Here is a link to folder I created on google drive. The article I mentioned is the Fischer one, https://drive.google.com/drive/folders/1E53W6SD6MP7ajyJoZuKmgkvdCDDCL8Hl?usp=sharing Think this one is probably what...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-17-2017, 03:24 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    @defragster. Its been awhile since I looked at that stuff but have a few good sources that you could use as a start. Just have to find the docs that I found the most useful. Give me a day to pull it together. ...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-17-2017, 03:20 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Not a silly question. I am using a breakout board from DIYMALL and there is no breakout for INT or FSYNC available. Thought crossed my mine but guess it didn't fully register so just commented out the code for the...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-17-2017, 01:39 AM
    mjs513 replied to a thread uNav AHRS in General Discussion
    Hi Brian, First, happy holidays to all on the forum. I just tried running the uNAV code on a T3.5 and it just seems to hang, i.e., no output whatsoever. The one change to the example sketch is that I am using...
    170 replies | 6097 view(s)
  • mjs513's Avatar
    12-15-2017, 05:19 PM
    As a FYI I just gave build 31 a try - moving target on the builder number I guess - and like you said they seemed to have the preprocessor issue.;)
    32 replies | 4937 view(s)
  • mjs513's Avatar
    12-11-2017, 05:45 PM
    Thanks tonton81. Never thought of that. Got my answer. :)
    350 replies | 47980 view(s)
  • mjs513's Avatar
    12-11-2017, 03:05 PM
    Working on a new project involving RTK and waypoint navigation for a rc car and came across a question I never thought about regarding tracking time between readings of sensors. The question is when does the thread...
    350 replies | 47980 view(s)
  • mjs513's Avatar
    12-05-2017, 08:00 AM
    Try changing your power connection to Vin instead of Vdd. According to the web page Vdd is regulated 2.8*V output. Vin is: You have to use pins 18/19 since that is SCL0/SDA0 which is hard coded in the library....
    6 replies | 532 view(s)
  • mjs513's Avatar
    12-05-2017, 01:03 AM
    Can confirm that it works with the Teensy 3.5. Just to let you know it defaults to Wire. If you wanted to use WireX you would have to hard code the change. There is a pull request in to allow which Wire to use at...
    6 replies | 532 view(s)
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About mjs513

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About mjs513
Location:
New York
Interests:
Robotics, Image Processing
Occupation:
Aerospace Eng (Retired)

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uNav AHRS Today 12:21 AM
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07-01-2014