Forum Rule: Always post complete source code & details to reproduce any issue!
Tab Content
  • Don Kelly's Avatar
    05-09-2018, 11:32 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, I have one of Brian's Marmot boards, which plugs into a BeagleBone Black (arriving next week) running Linux Debian. So that (Beaglebone) might be an option. I'll be downloading RTKLIB this weekend or early next...
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    05-09-2018, 01:29 AM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, The Tallyman antenna is one of the antennas Drotek recommends. I just got in two new GPS units, the M8T from Drotek and a couple of cheap Stoton GN-801 (Chinese) boards. The GN-801s have PPS. The M8T I can...
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    05-07-2018, 04:07 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    another note... I just traded emails with Jerome at Drotek. He says that to get cm-level RTK, you need to have a high quality antenna, like the Tallasman version they sell. So I'm thinking this is the main reason I...
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    05-07-2018, 03:24 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, I need to set up RTKLIB this week. I'm using the Here+ with the ArduPilot mission planner software, so maybe there's something funky with that setup. When RTKLIB is showing "RTK-FIX", does that mean carrier...
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    05-07-2018, 03:00 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Tim, Brian, tonton81, Did you all see this announcement? https://www.u-blox.com/en/press-releases/u‑blox-announces-first-high-precision-gnss-module-based-u‑blox-f9-technology I've not been able to get my...
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    04-27-2018, 07:51 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    ordered, thx! Don
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    04-27-2018, 07:46 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    I'll start with just one of the M8Ts. But the nearest CORS to me via the map is 18+km. Thx! Don
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    04-27-2018, 07:12 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, What will you use for base station? Wondering if I need two. We don't have one of those RTK broadcast stations near by. Don
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    04-27-2018, 06:18 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Which Drotek M8T did you get, the plain one without the compass? Think I'll do the same! Would like to think about incorporating RTK into what we've been doing here. Maybe kick off an RTK-Teensy thread??? ...
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    04-27-2018, 03:33 PM
    Don Kelly replied to a thread uNav INS in General Discussion
    Mike, Thx. I ordered the same one via ebay as well. So I'll finally have one with PPS pin... I've been experimenting still with the cal routine. Am able to get what I think is really good cal now, and I can use...
    638 replies | 17567 view(s)
  • Don Kelly's Avatar
    04-25-2018, 10:39 PM
    Thx Chris!
    101 replies | 4497 view(s)
  • Don Kelly's Avatar
    04-25-2018, 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? ...
    101 replies | 4497 view(s)
  • Don Kelly's Avatar
    04-25-2018, 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 | 7426 view(s)
  • Don Kelly's Avatar
    04-25-2018, 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 | 7426 view(s)
  • Don Kelly's Avatar
    04-24-2018, 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 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
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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()); ...
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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....
    638 replies | 17567 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...
    638 replies | 17567 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 +...
    638 replies | 17567 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 ...
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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!
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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.
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 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
    638 replies | 17567 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, ...
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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....
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 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...
    638 replies | 17567 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;
    638 replies | 17567 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...
    638 replies | 17567 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...
    638 replies | 17567 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.
    638 replies | 17567 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...
    638 replies | 17567 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
    638 replies | 17567 view(s)
More Activity
About Don Kelly

Basic Information

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

Statistics


Total Posts
Total Posts
400
Posts Per Day
1.76
Last Post
uNav INS 05-09-2018 11:32 PM
General Information
Last Activity
05-10-2018 01:21 PM
Join Date
10-06-2017