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  1. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Tim, Good question on the MPU9250. I only have...

    Tim,
    Good question on the MPU9250. I only have the SparkFun version, and have had issues with one of them (bad gyros). Got two more on the way from SparkFun.

    I'm still thinking that PPS is...
  2. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Good question. The MPU9250 I've been using...

    Mike,
    Good question. The MPU9250 I've been using lately definitely has an issue with the Y and Z gyros. For one thing, they won't calibrate at all.

    This modified cal routine is showing me that my...
  3. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Here's a revised version of Brian's...

    Here's a revised version of Brian's CalibrateMPU9250 sketch. I wanted to dig in a bit more to calibration, as I thought that could be causing me some issues with getting some of my AHRS and INS...
  4. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Here's something weird, wondering if anyone has...

    Here's something weird, wondering if anyone has seen this. I'm revising Brian's MPU9250 calibration routine so that I can calibrate each sensor (gyros, mags, accels) independently rather than all at...
  5. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, I ran onehorse's Mahoney and Madgwick...

    Mike,
    I ran onehorse's Mahoney and Madgwick filters a while back, worked well. Is that what you're running or does he have an EKF as well?

    Thinking I need to go get the latest SPI library of...
  6. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Tim, This version of uNavAHRS is not using the...

    Tim,
    This version of uNavAHRS is not using the new SPI code. I'm guessing Mike was trying to get it more stable, then we'd bring it over.

    Right now I'm running it, but when I move the IMU around...
  7. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Just put in my own timer, and the prints to...

    Just put in my own timer, and the prints to serial now seem to be correct. Now if I ask for 100ms data to the serial port, it prints to serial at 100ms. seems to be issue with using elapsedMillis, or...
  8. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    elapsedMillis does not seem to be printing to...

    elapsedMillis does not seem to be printing to serial at our desired "printRate" rates. First of all, it seems to execute more reliably (not lock up) if I hard code in the time interval rather than...
  9. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Great! I was actually thinking that it's...

    Mike,
    Great! I was actually thinking that it's ok if there are some missed data for real-time displaying, but would be slick if all the data could be stored for "post-mission" analysis. So sounds...
  10. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, When I send data to the serial, I'm doing...

    Mike,
    When I send data to the serial, I'm doing it at maybe 25ms intervals or greater I think (the printRate interval you all set up).

    With the SPI work tonton81, you, Tim, and others are doing,...
  11. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Putting some hooks into uNavAHRS so I can see how...

    Putting some hooks into uNavAHRS so I can see how the states, residuals, and noise terms (Q,R) are behaving.

    An interesting thing I noticed on the serial printout is that about 1-2% of the time...
  12. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, EDIT to last post... I am seeing the...

    Mike,
    EDIT to last post... I am seeing the values in my Serial terminal now, not sure what I had wrong. Will check it out more tomorrow.
    Don
  13. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Getting it to compile and upload, but...

    Mike,

    Getting it to compile and upload, but not getting anything on the slave terminal. Will look at again tomorrow, might have something in configDefines off or maybe I have older version of...
  14. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, I'm trying the uNavAHRS sketch right now....

    Mike,
    I'm trying the uNavAHRS sketch right now. It says MovingAvarageFilter.h missing. Is that a separate library you were using for the motion detect?

    On the Watson, I haven't been able to...
  15. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Got your Watson 7-State running. Like I...

    Mike,

    Got your Watson 7-State running. Like I think you mentioned, looks as tho the axes orientation is off, need to think about it some...
    Don
  16. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Cool, might be getting back to you on how...

    Mike,
    Cool, might be getting back to you on how you got the CORS rtk up and running. Hopefully I can figure it out.

    Downloading the Watson EKF now...
    Don
  17. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Yes, I can see where RTKLib would be...

    Mike,
    Yes, I can see where RTKLib would be really helpful in analyzing the raw files for troubleshooting. When I can carve out time, I need to download it and test it out. Next rtk thing I'm setting...
  18. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Brian, Yes, thought it would've been bit more...

    Brian,
    Yes, thought it would've been bit more plug-n-play, but not finding that with the PixHawk/Here+.

    Mike,
    The rtkexplorer site is interesting, I've been following it some, but thinking we're...
  19. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Thx, will try them out, likely over the weekend....

    Thx, will try them out, likely over the weekend.

    Testing went fairly well. We flew the 550 drone I built and got RTK Float (carrier phase ambiguity not resolved) easily, but again never...
  20. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    will do thx!

    will do thx!
  21. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Back from my trip, so ready to dig in to...

    Mike,
    Back from my trip, so ready to dig in to your latest uNAVAHRS version. Should I try out the version you posted on 3/13, or do you have a later version. Thanks! Don
  22. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    That's what i did on Copter #2, substituted a...

    That's what i did on Copter #2, substituted a Teensy !! Thx for the link, I'll check it out...
  23. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Have you checked out Jook Brokking's...

    Mike,
    Have you checked out Jook Brokking's website (http://www.brokking.net), and then his series of youtube videos? His videos are fantastic. I built two drones mainly based on his designs (about...
  24. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Sounds cool. May be end of next week...

    Mike,
    Sounds cool. May be end of next week before I can give the Watson EKF a try. I have my RTK drone flying now, so am likely going to be at client's Mon-Thur next week doing further testing....
  25. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, I've had poor luck with several things...

    Mike,
    I've had poor luck with several things I've ordered directly with China, so I'm probably overly cautious. If I get it from a US distributor/seller, I've found they're often helpful if I need...
  26. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Thx, will give it a try... The radios are...

    Thx, will give it a try...

    The radios are great, very high quality. Plugged them in and they worked (in default mode) without any extra setup, which was nice. The link is very solid, RTK Float...
  27. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Tim, Did you just switch in SPI_MSTransfer16, or...

    Tim, Did you just switch in SPI_MSTransfer16, or did you also have to mod anything in INS9State_V11?
    Don
  28. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, I'm using the Mission Planner software...

    Mike,
    I'm using the Mission Planner software connected to Here+ base station with 3DR (close) radio, and then a Here+ Rover on a PixHawk2.1 carrier board on the drone with 3DR (clone) radio. I...
  29. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Thx, I'll read up on the M8U. With respect...

    Mike,
    Thx, I'll read up on the M8U. With respect to the M8Ps, yes, I'm using two of those (the Here+ kit for PixHawk) for my RTK testing. I have been able to lock on RTK Float by connecting Rover to...
  30. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Running you're TViewer file at 1ms rate....

    Mike,
    Running you're TViewer file at 1ms rate. This is awesome!
    Don
  31. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Tim, Brian, One thing I've been thinking...

    Mike, Tim, Brian,

    One thing I've been thinking about is the criticality of timing. Tim and I discussed this a couple of months ago, i.e. the idea of synching off of PPS. If we do updates at 5Hz...
  32. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Am looking through V11. Really nice work...

    Mike,
    Am looking through V11. Really nice work at organizing it, looks great!!

    I'm trying various DLP filter values and such now. Thinking about setting up some sort of test where I drive around...
  33. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, That did it, thx. Looks like it's running...

    Mike,
    That did it, thx. Looks like it's running now.

    I'd like to get back into looking at the KF performance, mainly to make sure the accelNED is helping the kfProp stage rather than hurting it....
  34. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    roger that, thanks! off to music gig, will do...

    roger that, thanks!

    off to music gig, will do that when I get back later tonight after the gig. thx for the hint!!
  35. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    #elif defined(DK) ...

    #elif defined(DK)
    //--------------------------------------------------------------------
    //---- GPS Declares
    //--------------------------------------------------------------------
    #define...
  36. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, I'm still trying to get V11 working. I...

    Mike,

    I'm still trying to get V11 working. I installed your modified MPU9250 cpp and h files, but now I'm getting this message during compile. my pin assignments in the Defines tab look ok to me....
  37. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Tim, Looked at the link you sent, and I see...

    Tim,
    Looked at the link you sent, and I see where the mods to V10 (and V11) were made, but I'm not seeing what lines are changed in the MPU9250 library itself. Is there a revised MPU9250.cpp and .h...
  38. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Tried V10 and its failing the compile on...

    Mike,
    Tried V10 and its failing the compile on line 76:

    MPU9250 Imu(IMU_BUS, IMU_ADDR, IMU_SCL, IMU_SDA, IMU_SPD)

    with error message:

    no matching function call, expects 2 arguments, 5...
  39. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Gracias!!!

    Gracias!!!
  40. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Tim, Mike, Just got my new board calibrated, and...

    Tim, Mike,
    Just got my new board calibrated, and finally got version 9a up and running. Whew, that's fast!!! Running both T36 at the standard 180MHz.

    Taking a break for a bit, but will come back...
  41. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Tim, I can move GPS to Serial2 if preferred....

    Tim,
    I can move GPS to Serial2 if preferred. Easy to do if that syncs with you all better.
  42. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Think i found the causes... i built a new board...

    Think i found the causes... i built a new board for this SPI work, and I neglected to re-calibrate the MPU9250, so it's outputting NaN as the calibration values. I also didn't have power connected...
  43. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    i'll check again, a couple of things were...

    i'll check again, a couple of things were different from the V9 config, but thought i caught them.
  44. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    I ran the slave/master examples and they worked,...

    I ran the slave/master examples and they worked, so thinking the wiring was ok
  45. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Still having issues trying to get going with V9a...

    Still having issues trying to get going with V9a and SPI...

    I have one T36 (with IMU and GPS) running V9a, connected to COM 14.

    I have the second T36 running the Slave sketch, connected to COM...
  46. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, When I test V9a, does the T36 with V9a...

    Mike,
    When I test V9a, does the T36 with V9a (with IMU, GPS) then become the Slave, and it's sending data via SPI to the Master? So I load the Master sketch into the second T36? Then I'm guessing...
  47. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, I'm confused about what's going on with...

    Mike,
    I'm confused about what's going on with the SPI example. Sorry if it's a dumb question!

    I have the Slave T3.6 connected to COM 4. When I look at COM 4 it's showing ~12 columns of...
  48. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Tim, Got the SPI example working, very...

    Mike, Tim,
    Got the SPI example working, very impressive!

    Now I'll see if I can get 9a up and running... i might have questions!

    Don
  49. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Mike, Tim, Thx for the hints on setup. Will try...

    Mike, Tim,
    Thx for the hints on setup. Will try it out later today hopefully.

    Need to take time this morning to try and get my (Here+) RTK unit up and running again. Had a connector come loose...
  50. Thread: uNav AHRS

    by Don Kelly
    Replies
    877
    Views
    51,338

    Tim, Mike, OK... how best do I catch up to you...

    Tim, Mike,
    OK... how best do I catch up to you guys... I'll take a look at the photos and see if I can figure out your setup, and I'll read through the SPI posts. I have several T3.6s, so no issue...
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