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Type: Posts; User: Don Kelly

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  1. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, I need to check out Chris O's GPS lib,...

    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...
  2. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, In the calibration code, I'm calculating...

    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...
  3. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, hmmm... weird... i'm still studying...

    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....
  4. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, Looks like that code would make it easy...

    Mike,

    Looks like that code would make it easy for just doing a mag-only update (w/o GPS). Nice!

    Don
  5. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, I also still have the old breadboard...

    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
  6. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, My plan is to add another 4-wire JST-GH...

    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...
  7. Thread: uNav INS

    by Don Kelly
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    13,101

    Here's my final hard-soldered config. GPS (M8N)...

    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...
  8. Thread: uNav INS

    by Don Kelly
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    621
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    13,101

    Mike, Sounds like I need to catch up on Chris...

    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
  9. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, Tim, I'm going back and trying to...

    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...
  10. Thread: uNav INS

    by Don Kelly
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    13,101

    tonton81, Tested the updated circular_buffer,...

    tonton81,
    Tested the updated circular_buffer, looking good. Thx!! Don
  11. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, What filter are you running for your...

    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
  12. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    tonton81, was at dinner, just saw post, yes,...

    tonton81,
    was at dinner, just saw post, yes, looking good!! Thx!
    Don
  13. Thread: uNav INS

    by Don Kelly
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    13,101

    Nice! I use both Python and Matlab. I'm really...

    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...
  14. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    Mike, Looks interesting, is that in c? I'm...

    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...
  15. Thread: uNav INS

    by Don Kelly
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    13,101

    tonton81, Tried this, but got error of 'class...

    tonton81,
    Tried this, but got error of 'class Circular_Buffer has no member named sort_ascenting'

    cbaZ.sort_ascending();
    Serial.println(" ");
    Serial.print(" val1 =: ");...
  16. Thread: uNav INS

    by Don Kelly
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    13,101

    Great, gracias!! Don

    Great, gracias!!
    Don
  17. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    tonton81, Looks like I found an issue with the...

    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...
  18. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    Tim, I put in a simple check ...

    Tim,
    I put in a simple check

    dataQualityFlag = Imu.readSensor();
    if (dataQualityFlag == -1){
    Serial.println(">>>>>>>>>>>>> WARNING - BAD IMU DATA DETECTED <<<<<<<<<<<<<<<");
    ...
  19. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    13622 Here's an updated set of instructions...

    13622

    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...
  20. Thread: uNav INS

    by Don Kelly
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    13,101

    Good points. If we can figure out some of these...

    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...
  21. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, It depends on whether you're using option...

    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...
  22. Thread: uNav INS

    by Don Kelly
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    13,101

    Great idea Tim, would make for an easy first...

    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...
  23. Thread: uNav INS

    by Don Kelly
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    13,101

    Below is Ver2. I added the ability to change the...

    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...
  24. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, Actually think it's working. To load...

    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...
  25. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    When you get a chance, try the 'r' option and let...

    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...
  26. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    I see what you're saying, just did a MPU9250...

    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...
  27. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    Just did a simple test and I'm seeing it load....

    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...
  28. Thread: uNav INS

    by Don Kelly
    Replies
    621
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    13,101

    Here's an interesting thing I'm seeing with the...

    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...
  29. Thread: uNav INS

    by Don Kelly
    Replies
    621
    Views
    13,101

    Here's a calibration analysis tool that allows...

    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

    13610
    13611

    P.S. This tool is really...
  30. Thread: uNav INS

    by Don Kelly
    Replies
    621
    Views
    13,101

    Got my calibration analysis routine working. It's...

    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...
  31. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    Mike, You're getting hit by a double whammy on...

    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...
  32. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    Found the issue. The accel Y bias calculation has...

    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
    ...
  33. Thread: uNav INS

    by Don Kelly
    Replies
    621
    Views
    13,101

    Still working on refining calibration. I'm seeing...

    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?...
  34. Thread: uNav INS

    by Don Kelly
    Replies
    621
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    13,101

    Have been looking into my IMU heading data. I...

    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...
  35. Thread: uNav INS

    by Don Kelly
    Replies
    621
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    13,101

    Mike, got the MS5611 baro board in today. Still...

    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
  36. Thread: uNav INS

    by Don Kelly
    Replies
    621
    Views
    13,101

    R is 6x6 for the 15-State w/o mag measurements,...

    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...
  37. Thread: uNav INS

    by Don Kelly
    Replies
    621
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    13,101

    Mike, Running your modified TViewer now on my...

    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....
  38. Thread: uNav INS

    by Don Kelly
    Replies
    621
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    13,101

    Thx, will check the screenshots out. Also looking...

    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...
  39. Thread: uNav INS

    by Don Kelly
    Replies
    621
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    13,101

    Mike, Maybe just a couple of plots would be...

    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...
  40. Thread: uNav INS

    by Don Kelly
    Replies
    621
    Views
    13,101

    Mike, I've been seeing some issues with the...

    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...
  41. Thread: uNav INS

    by Don Kelly
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    621
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    13,101

    Yep, looking like no INT for magnetometer. ...

    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,...
  42. Thread: uNav INS

    by Don Kelly
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    621
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    13,101

    It looks like, from the MPU9250 datasheet, that...

    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 =...
  43. Thread: uNav INS

    by Don Kelly
    Replies
    621
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    13,101

    Mike, Been thinking about your earlier post,...

    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...
  44. Thread: uNav INS

    by Don Kelly
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    13,101

    Great tonton81, good to know!

    Great tonton81, good to know!
  45. Thread: uNav INS

    by Don Kelly
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    13,101

    Mike, By the way, the Marmot board I got from...

    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...
  46. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    My mistake, didn't have the baud rate on the M8N...

    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...
  47. Thread: uNav INS

    by Don Kelly
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    13,101

    Got it changed, but still can only run at...

    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.
  48. Thread: uNav INS

    by Don Kelly
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    13,101

    Thanks, switching to 64 TX and 128 RX. I remember...

    Thanks, switching to 64 TX and 128 RX. I remember I had done this on my PC, but didn't on my iMac.
    Don
  49. Thread: uNav INS

    by Don Kelly
    Replies
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    13,101

    Tim, You suggested: "You need to move off of...

    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...
  50. Thread: uNav INS

    by Don Kelly
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    621
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    13,101

    Mike, Thx for the MS5611 link, I got one...

    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
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