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  • Don Kelly's Avatar
    Yesterday, 01:49 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    The simpleRTK boards are great. I love the built-in xBee radios, super simple to setup and test. They have some really good products!
    696 replies | 145115 view(s)
  • Don Kelly's Avatar
    Yesterday, 12:26 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    @u_cap, I'm interested in it as well, let me know what you hear from Mike please. On a separate note, I recently have got the gnss-sdr (GPS software defined radio) software running on a linux platform. Would be...
    696 replies | 145115 view(s)
  • Don Kelly's Avatar
    05-13-2020, 02:19 PM
    @mjs513, awesome! The BNO080s are really interesting. I'm wondering if they'll release a new chipset soon, as this has been out for awhile now. Another thing of great interest to me is at what point will relatively...
    785 replies | 27794 view(s)
  • Don Kelly's Avatar
    05-12-2020, 09:04 PM
    @defragster Great!
    785 replies | 27794 view(s)
  • Don Kelly's Avatar
    05-12-2020, 04:13 PM
    Tested the T4.1 prototype with my stepper motor drivers and libraries yesterday, all works fine. Also got my PJRC order in for a couple of production T4.1s and memory chips! Don
    785 replies | 27794 view(s)
  • Don Kelly's Avatar
    05-09-2020, 01:11 PM
    Just tested the T4.1 (and T3.6) for recording uBlox F9P GPS data (NMEA RMC messages) at 20 Hz to SD. Works like a champ, with Pete's help on some code mods. See this thread "Stream Data from Serial1 to SD Card, Teensy...
    785 replies | 27794 view(s)
  • Don Kelly's Avatar
    05-09-2020, 01:06 PM
    Pete, Your tweak works, amazing! It now logs at 20Hz cleanly. Tested on the T4.1 just now. Thx for the suggestions! $GNRMC,130049.75,A,2936.6095171,N,09506.5759320,W,0.050,,090520,,,A,V*06...
    7 replies | 114 view(s)
  • Don Kelly's Avatar
    05-08-2020, 07:43 PM
    Pete, Your trick works. Thx. Here's what I see now (on both the T3.6 and T4.1): 1. 10Hz NMEA RMC messages write to SD card just fine. I can also tested doing other tasks in the loop (blinking LED) and still saved...
    7 replies | 114 view(s)
  • Don Kelly's Avatar
    05-08-2020, 01:12 AM
    Thx, I'll try both these and let you know what happens, I appreciate it.
    7 replies | 114 view(s)
  • Don Kelly's Avatar
    05-07-2020, 10:46 PM
    I do a lot of GPS testing, and I'd like to just capture NMEA data (RMC messages) as it streams to the SD card on Teensy 3.6 Serial1. I have great success using the Sparkfun OpenLog SD card with T3.2s and T4.0s, but now...
    7 replies | 114 view(s)
  • Don Kelly's Avatar
    05-06-2020, 11:57 PM
    Thanks defragster, I've got a dozen tests I'm planning to run through, including displays, IMUs, DC and stepper motors, SPI motor encoder, AHRS algorithms, GPS interfaces and datalogging, and more. These early ones are...
    785 replies | 27794 view(s)
  • Don Kelly's Avatar
    05-06-2020, 03:34 PM
    Still stepping through some simple regression testing, so please ignore if others have done. Just tested SD lib functionality, and examples ran fine. Was able to write and read and list files with no issues....
    785 replies | 27794 view(s)
  • Don Kelly's Avatar
    05-05-2020, 03:08 PM
    Completed next regression test, BNO080 on SPI. Looks fine, running Sparkfun BNO080 lib, sample quaternion output: .01,-0.02,0.44,0.90,3.14,19.89Hz 0.01,-0.02,0.44,0.90,3.14,19.89Hz 0.01,-0.03,0.44,0.90,3.14,19.89Hz...
    785 replies | 27794 view(s)
  • Don Kelly's Avatar
    05-04-2020, 10:48 PM
    I'm doing simple regression testing with a dozen or so of my lab setups, just to make sure interfaces and all look good. I just tested the BNO080 IMU with the Sparkfun lib over I2C, all looks good to me. Here's and...
    785 replies | 27794 view(s)
  • Don Kelly's Avatar
    04-30-2020, 08:41 PM
    Just a heads-up that you may want to calibrate your sensors, especially the mag sensors. Otherwise your yaw will not be relative to North, and will drift pretty badly. Lots of info out there on MPU9250 calibration,...
    8 replies | 391 view(s)
  • Don Kelly's Avatar
    04-29-2020, 10:06 PM
    Don Kelly replied to a thread uBlox Library in General Discussion
    If you're new to arduino, suggest you get some of the basic arduino examples running in the Arduino IDE first, like Blink. Once you see how arduino sketches work, then install the Ublox library, hook up your Ublox...
    119 replies | 22280 view(s)
  • Don Kelly's Avatar
    04-28-2020, 02:28 PM
    Thx, will check it out.
    2 replies | 168 view(s)
  • Don Kelly's Avatar
    04-27-2020, 09:23 PM
    Is there a friendly CM tool for Teensy / Arduino that captures the whole Teensy environment? It'd be nice if there was a simple tool that captured: - The current C code (sketch) with all tabs - A snapshot of all libs...
    2 replies | 168 view(s)
  • Don Kelly's Avatar
    04-23-2020, 02:10 PM
    I use I2C without INT, I just use a qwiic cable. I'm getting ready to mount a BNO080 on a larger (SuperDroid Robots model) self balancing robot, and I'll use I2C for that since I'm already using two SPI links to the...
    17 replies | 652 view(s)
  • Don Kelly's Avatar
    04-23-2020, 12:59 PM
    For SPI, I get the same thing with delay(2000) in the void setup. If I set it to delay(2), delay(20), delay(200), it runs fine, but locks up if set to delay(2000). weird. For I2C, it runs fine with the delay(2000). ...
    17 replies | 652 view(s)
  • Don Kelly's Avatar
    04-21-2020, 10:00 PM
    See above post for what I see with SPI. It's pretty fast. Here's what I see running same code on I2C: 227.58 Hz 228.05 Hz 375.38 Hz 376.08 Hz 376.51 Hz 376.93 Hz 193.72 Hz 373.55 Hz
    17 replies | 652 view(s)
  • Don Kelly's Avatar
    04-21-2020, 06:06 PM
    DavidG, Very cool! Works great. Here's what I get with the T4.0: 405.84 369.28 484.73 350.39 427.35 446.23 392.16
    17 replies | 652 view(s)
  • Don Kelly's Avatar
    04-21-2020, 02:51 PM
    DavidG, looks awesome, thx! Will take me a couple days to get time to try this, but looking forward to trying your mods!
    17 replies | 652 view(s)
  • Don Kelly's Avatar
    04-09-2020, 02:09 PM
    Great, thanks. I have the INT and WAK connected, just wasn't sure if that was right, so thanks. Will try your 1K updates out... By the way, has anyone been able to consistently get the self-calibration to go to HIGH...
    17 replies | 652 view(s)
  • Don Kelly's Avatar
    04-08-2020, 09:43 PM
    That's really cool, are the quat updates also at 1Kz, or is it just gyro 1k updates? Are you connecting the INT pin on the BNO080? I was unsure if that does anything or not.
    17 replies | 652 view(s)
  • Don Kelly's Avatar
    04-07-2020, 09:47 PM
    You need to apply a filter to the raw sensor measurements in deg/s and m/ss to angular degrees. The easiest is called a complementary filter, others include Madgwick and Kalman filters. Joop Brokking has some excellent...
    8 replies | 391 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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uNav INS Yesterday 01:49 PM
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10-06-2017