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  • Don Kelly's Avatar
    Today, 03:19 PM
    Chris, Looking at your Example and cpp code. Am trying to figure out what the Poll_CFG_TP5 does. Does it simply just grab the current GPS time, or can it create an interrupt (or time pulse) kind of like a PPS signal? ...
    99 replies | 3531 view(s)
  • Don Kelly's Avatar
    Today, 01:17 PM
    Don Kelly replied to a thread uBlox Library in General Discussion
    Mike, Thx! Am headed to apt, but taking the Example sketch to study. Is there any trick to trying out the PPS feature? Don
    49 replies | 6975 view(s)
  • Don Kelly's Avatar
    Today, 12:41 PM
    Don Kelly replied to a thread uBlox Library in General Discussion
    Mike, Thx, was just starting to look at Chris' mods, and was trying to figure out what to grab. Thx!! Don
    49 replies | 6975 view(s)
  • Don Kelly's Avatar
    Yesterday, 02:17 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, I need to check out Chris O's GPS lib, have been spread thin lately with my data analytics project and other stuff. Prob a dumb question, but assume Chris O's lib requires PPS pin access (which unfortunately...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-23-2018, 08:19 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, In the calibration code, I'm calculating heading directly from the calibrated magnetometer readings, so not really even calculating yaw. But if I'm understanding it, the EKF is continually tweaking heading...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-23-2018, 07:37 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, hmmm... weird... i'm still studying calibrations, as I'm still seeing some unusual behaviors with the heading at times. Want to work on this a bit more before I get back to the 15-state. Have had house...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-22-2018, 02:11 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Looks like that code would make it easy for just doing a mag-only update (w/o GPS). Nice! Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-22-2018, 02:10 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, I also still have the old breadboard setup still, with Master and Slave T36s. Would just need to move the GPS back over. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-22-2018, 01:47 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, My plan is to add another 4-wire JST-GH connector, like I did for the GPS. But I'm waiting for my JST cables to arrive from mRobotics. So in the meantime, I'm doing some experiments without the slave, and...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-21-2018, 11:05 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Here's my final hard-soldered config. GPS (M8N) mounted on top, JST-GH connector to main board. Did a quick test and it seems to be processing both IMU and GPS data. So solders look good. Can get back to looking at EKF...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-21-2018, 05:44 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Sounds like I need to catch up on Chris O's library! tonton81 - that is crazy stuff. thinking there could be some interesting applications for this! Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-21-2018, 03:06 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Tim, I'm going back and trying to document some of the versions/changes we had. I have them all saved, but didn't a great job of documenting what we did. Started a log book for my IMU projects, so lesson...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-19-2018, 12:33 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    tonton81, Tested the updated circular_buffer, looking good. Thx!! Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-19-2018, 12:57 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, What filter are you running for your plots above? One of the AHRS variants? By qw, if you mean the term that usually 1.0, it's q0 in Brian's filter I believe. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-19-2018, 12:55 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    tonton81, was at dinner, just saw post, yes, looking good!! Thx! Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 10:05 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Nice! I use both Python and Matlab. I'm really best on Matlab, but have been frustrated the last few years with their outlandish pricing for individuals, so have heavily migrated to Python recently except for few...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 08:57 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Looks interesting, is that in c? I'm getting what seem to be really good results now. tonton81 is going to fix the circular-buffer max issue, but knowing what the issue is, I'm seeing what seem to be good cal...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 08:45 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    tonton81, Tried this, but got error of 'class Circular_Buffer has no member named sort_ascenting' cbaZ.sort_ascending(); Serial.println(" "); Serial.print(" val1 =: "); Serial.println(cbaZ.peek()); ...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 08:03 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Great, gracias!! Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 07:55 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    tonton81, Looks like I found an issue with the max calculation in circular buffer. If the numbers in the buffer are all negative (as if we're reading all -9.8 for gravity), the max function returns 0.0000 as the max...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 07:21 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, I put in a simple check dataQualityFlag = Imu.readSensor(); if (dataQualityFlag == -1){ Serial.println(">>>>>>>>>>>>> WARNING - BAD IMU DATA DETECTED <<<<<<<<<<<<<<<"); } Right now I'm...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 04:04 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Here's an updated set of instructions for the Cal Analysis Tool. I added six "Use Cases" to show the order for entering commands for performing various activities. I'm having no issues if I follow these steps. But let...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 02:02 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Good points. If we can figure out some of these cal issues, and make sure we're getting good quality data, I'm guessing we'll see some good stuff with both the EKF w/o mag and the EKF w/ mag! I'll pull together my...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 01:41 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, It depends on whether you're using option 'e' (load static cal data to EEPROM) or option 'l' (load MPU9250 Library cal data to EEPROM). When a static cal is calculated, scale factors are not solved for, so...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-18-2018, 01:45 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    Great idea Tim, would make for an easy first check. I've got some of the Adafruit Perma-Proto boards arriving this week, so I'll be soldering up one of those. I also have one of Brian's Marmot boards to try out when...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-17-2018, 11:46 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Below is Ver2. I added the ability to change the buffer size via variable in the main routine, and I added min and max outputs when you run 'r'. Note this result... interesting. The circular buffer pulled in bad IMU...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-17-2018, 11:20 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Actually think it's working. To load values to eeprom after a MPU9250 Library calibration (following 'a', 'g', or 'm') you use the 'l' command instead of the 'e' command. The 'e' command is for loading static cal...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-17-2018, 10:52 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    When you get a chance, try the 'r' option and let me know if you're seeing consistent values. I've added variables for the buffer size now, as it's nice to be able to change that quickly. I'll do another release...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-17-2018, 10:49 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    I see what you're saying, just did a MPU9250 Library accel cal, and it didn't load to eeprom when requested. I'll check the code later tonight. I think it's a simple fix, think I'm not passing the variable correctly to...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-17-2018, 10:43 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Just did a simple test and I'm seeing it load. Here's what I did: 1. 'z' to zero everything out 2. 'd' to verify everything reset 3. 's' to do static cal 4. 'e' to load into eeprom 5. 'i' to load into MPU Static...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-17-2018, 09:12 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Here's an interesting thing I'm seeing with the new cal analysis tool. My X mag sensor seems to have noise spikes. Here's a sample Sigma calculation using buffer size of 2048: Static IMU Sensor Sigma Values: axb...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-17-2018, 08:25 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Here's a calibration analysis tool that allows you to view and analyze calibration in a variety of ways. See attached PDF for ways to use it. Don P.S. This tool is really helping me see if I have a solid...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-16-2018, 09:04 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Got my calibration analysis routine working. It's been really interesting to try different things out. I'm finally able to get what seems to be a very solid calibration now, and to verify that the calibration is good....
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-15-2018, 08:52 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, You're getting hit by a double whammy on your accel calibration. It looks like you're not getting calibration values for axb (0.0) and axs (1.0), and your ayb (4.872) with the current MPU9250 library is really...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-15-2018, 08:39 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Found the issue. The accel Y bias calculation has a typo in it, in the MPU9250 library. It's in the calibrateAccel() routine. the line that reads _ayb = (_axmin + _axmax) / 2.0f; should read _ayb = (_aymin +...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-15-2018, 08:12 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Still working on refining calibration. I'm seeing something weird when using the MPU9250 library calibration. My X and Y bias values for accel come out the same (see below). Are you guys seeing this? Don ...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-14-2018, 03:24 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Have been looking into my IMU heading data. I took the 15-State (w/o mag) and added the few lines of atan(x/y) code that calculates heading from the IMU hx and hy readings. I'm showing that when I align my IMU towards...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-14-2018, 01:46 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, got the MS5611 baro board in today. Still want to finish what I was doing with the 15-State w/o mag code, so I might mess with the MS5611 next week some time. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-13-2018, 08:39 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    R is 6x6 for the 15-State w/o mag measurements, and is a 9x9 for the 15-State w/ mag measurements. The Rw matrix (noises on accel and gyro) remains the same for either case, as it's used for calculating Q. Right now...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-13-2018, 08:16 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Running your modified TViewer now on my PC. Nice. By any chance do you have any idea on how I'd get it to run on my iMac? I tried to run the earlier jar file on the iMac, and I get errors. I've got the JDE...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-13-2018, 07:10 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Thx, will check the screenshots out. Also looking forward to trying your TViewer as well! I went back and did some runs of the original version of the 15-State (w/o mag) I posted back on 3/16 (post #41). The output...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-13-2018, 02:08 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Maybe just a couple of plots would be nice. Other than adding the MS5637 code, what else did you add? Think I'll take a quick look at some of the earlier versions to see if they were more stable. Also...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-13-2018, 12:54 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, I've been seeing some issues with the version (Ver6) I've been running. Heading drifts off after a short while, and I was seeing "spikes" in the residuals plots. Was starting to wonder if maybe the dt value was...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 09:58 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Yep, looking like no INT for magnetometer. I'll keep thinking on it... Still seems like it would be sweet to use PPS to start the process for each void loop. Oh well. I guess the mag reading, since it's running at...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 08:01 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    It looks like, from the MPU9250 datasheet, that INT goes high if there's new data in the buffer. Looking at Brian's MPU9250 library in github, he says For accel and gyro: Output Data Rate = 1000 / (1+SRD) For...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 07:42 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Been thinking about your earlier post, about changing up the Update portion to execute for any of the following scenarios: 1) Both GPS and mag measurements are available (what we're running now) 2) GPS only...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 07:34 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Great tonton81, good to know!
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 03:55 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, By the way, the Marmot board I got from Brian has a BME280 temp/baro/humidity sensor built in on it. tonton81 - good question. On my list f things to do is to convert the EKF code (uNavINS.cpp) to all Doubles...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 03:08 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    My mistake, didn't have the baud rate on the M8N side set to 460800. Duh... I'm not sure what my actual altitude is here. My lot survey says we're only 22 feet above sea level, so guessing that's 22' MSL or about...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 02:40 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Got it changed, but still can only run at GPS_BAUD 115200. Will take a look at settings in u-Connector, but maybe that's all my particular uBlox can run at.
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 02:19 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Thanks, switching to 64 TX and 128 RX. I remember I had done this on my PC, but didn't on my iMac. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 01:52 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, You suggested: "You need to move off of Serial3 and expand the RX_Buffer" I moved to Serial2 and made sure the buffer in SPI_MSTransfer.h was set to DATA_BUFFER_MAX 400. Is that the buffer you were referring...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 01:13 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Thx for the MS5611 link, I got one ordered... The Drotek GPS looks nice. Wish it had PPS out though. Looks nice quality. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-12-2018, 12:46 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Where'd you get your MS5611? Looks like banggood has them, but it seems to take a fairly long time to get parts in from them. Bt at least they're cheap there... I got my mRobotics M8N Dual running off the T36...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 10:38 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    The bay sounds nice! I'll check out the Vin pin for 5V. Thx. Will do some more testing this evening...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 08:29 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Shutting down the outdoor test for a bit. It ran well for a while, maybe 30 min, but then started drifting and jumping 2669.437988, -10.9817, -14.5541, -11.5964, 342.1419, 29.610167,-95.109573, -1.2465...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 08:23 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, I only see 3.3v from my T3.6, at least from the topside. I see on the diagram there's a 5V port underneath, but I don't read voltage from it so guessing it perhaps must be jumpered first, if it even can. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 07:45 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, Are you feeding the uBlox 3.3V from Teensy? I tried doing that with the Adafruit GPS and it needed 5V for me to get it to work reliably. I'll try moving off Serial3 and double-check the RX_Buffer. Thx! Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 07:35 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Here's some interesting behavior. The filter will be doing fine, like in this Master output: 86.992508, -8.2226, -5.6769, 0.1556, 354.5765, 29.610157,-95.109581, -1.2201 87.216446, -8.3127, -5.1982, ...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 07:10 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Let me know how testing with Chris' GPS library goes. Sounds interesting. Heading still holding at 357 or so, decent I think.... Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 06:41 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Outside testing update... So far I seem to be getting better Heading reporting, we'll see if it drifts. I pointed +X axis towards magnetic North using my iPhone (with Compass mode set to Mag not True North), and the...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 06:26 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, I tried both 460800 and 230400 for GPS_BAUD, and mine only seems to work if I set it to 115200. Wonder if I need to change some other uBlox setting? Here's another weird thing. I'm trying to run some tests...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 02:42 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Running some tests outside today. Want to see if outside calibration seems to work any better, and if better GPS visibility tightens up the altitude wander somewhat.... Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 02:38 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, It's still using the mag data to correct yaw/heading drift, but it just does so at the GPS rate (the way this particular INS code is set up). So one way to look at it is that in-between the "big-step" GPS/mag...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-11-2018, 02:20 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, If we did it that way, I don't see how we'd get a constant dt because the IMU data would come whenever. So it would never be "in sync" with the incoming GPS data. That's why I was proposing running the IMU really...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-10-2018, 07:27 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Well... I thought I had an idea on how to do 20Hz updates, but now I'm stumped in how to implement it. The challenge is that the 20hz (50ms) propagation steps have to be synch'ed to the start of the GPS 5 Hz samples....
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-10-2018, 03:11 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Great. Then I'll make a first cut at an Option 3 version. For initial release I'll just get a dt = 20Hz version working, then we can brainstorm on fixing certain matrices constant and leveraging Tim's timing...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-10-2018, 02:11 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Option 3 is my fav too, but I think I remember Brian saying on a post that he likes something similar to Option 1 best. The advantage to Option 3 is that any of the matrices with dt in them would then be constant, so...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-10-2018, 12:34 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Great, I meant to also try V6 also with different SRD values, so need to get to that today. On the calibration side, I noticed something and was wondering if y'all are seeing this. I re-calibrated very...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-10-2018, 12:28 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Right now for the EKF we're letting the propagation (time) stage refresh at whatever rate the accel and gyro readings become available, and then the update stage runs at the even dt = 0.2s GPS refresh rate. We could fix...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-09-2018, 08:39 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, Mike, Here's a new version, uNavINS_CBVer6, which includes the following minor mods to Tim's Ver5. I DID NOT change the TViewer text file or the TVSlaveDK5 file. - I corrected the propFlag names to updateFlag...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-09-2018, 03:15 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, Just ran your version, looking good! Let me digest what you did a bit, and then I'll make a couple of mods. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-09-2018, 12:33 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, Reading through your posts now. Will have time later this morning to try out your mods! As far as dt goes, if I understand your question, I think there are two general ways to successfully treat dt in these...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-08-2018, 11:09 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, Perfect. I have not altered anything yet. Here's what I had tried: void readSerial(){ String charIn; //Declare a String variable to hold your name //float newGPSPosnSigma;
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-08-2018, 10:10 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    I've got the Ver4 you posted with the T-timeBase tab, and it's running well. Let's call that the "baseline" for now. There's a few things I want to add, but think I'll break for today. Tomorrow I think I'll - get...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-08-2018, 09:45 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    OK, I see that name issue now. Would be better perhaps to keep version numbers same for master, slave, and TViewer for clarity. I'll see what's in that ZIP (TV_LayoutCFVer8x.zip) file and start from there. I made a...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-08-2018, 09:10 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Used your code (on Master side). For Slave side, think I just fixed my version back to the Double version.
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-08-2018, 08:56 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Opps, I missed your Ver8. Will go back to your Ver8. All I've been doing is trying to do a simple read of characters from the Master terminal. What I was doing is sending Lat Lon Alt to the Master terminal, and then...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-08-2018, 08:10 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, Building a Ver6 where I've fixed it. Working on adding the ability to make some edits to Q and R now, so will release Ver6 in a day or so I think. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-08-2018, 07:40 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, You had asked about propFlag. I was using it to tell me when the EKF Update stage had been entered. I should have called it updateFlag, so I'll fix that. Sorry about the confusion. (EDIT: also it was called...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-07-2018, 04:05 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, sounds cool. Please let me know when you do a release! I'm still planning to build that interface to allow for changing of Q and R parameters on the fly. Hoping to get to that next week sometime. I need to...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-07-2018, 03:48 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    For anyone interested, attached is a description and photo of my setup for uNavINS. I wanted to document my pin connections in case I needed to recall what worked! Mike - Thx for the Arduino link, will check it...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-07-2018, 02:01 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, you mentioned MAVLINK a few posts back. I was thinking along similar lines. Would be neat to be able to push a nav (RTK eventually) solution back via MAVLINK to a quad-copter operator in real-time. I've just...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-06-2018, 02:53 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, Got your Doubles version running, nice! I'm going to take a bit of time now and try some IMU re-calibration. Want to see if re-calibrating gives me new cal numbers and maybe tighter EKF soln (heading). Also...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-06-2018, 02:07 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim - I'm back online, will download your version, update the buffer, and give it a try!! Mike - Glad you're seeing what seem to be reasonable numbers. I see pretty much the same thing, sinusoidal drift on Lat and...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-05-2018, 07:03 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Tim, The last couple of hours I've been exploring tuning some of the R and Q parameters, just to try and get a first order cut at tuning. The new plots on TViewer are awesome for this. Here's my latest versions....
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-05-2018, 05:27 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Attached is an updated version of the TViewer txt file, with all labels, colors, etc added. Pretty amazing watching it all stream by. In a bit, I'll bump the SPI buffer up to 400 and switch everything back to...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-05-2018, 02:32 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Where is the buffer size set? I was thinking it would be in TVslave but not seeing it there. If you're seeing only 4 decimal places or so in Lat, prob best to go back to Doubles and increase buffer to 400. Don
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-05-2018, 02:40 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    Ok, here's Ver4 of uNavINS_CB and TVSlave. TViewer only shows me ~30 parms for building the txt file, so I will see if I can manually build the TViewer txt file tomorrow. But at least all the parms are streaming to...
    621 replies | 13000 view(s)
  • Don Kelly's Avatar
    04-05-2018, 02:09 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    OK, got it working for all 62 residuals parms. I'm going to take a break, but then add the 15 P terms, and then finally update the TViewer txt file, and send out another release. May be the morning before I get the new...
    621 replies | 13000 view(s)
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About Don Kelly

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About Don Kelly
Location:
Houston
Interests:
GNC, drones, engineering software, optimal estimation
Occupation:
engineer

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