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  1. Thread: uNav AHRS

    by Don Kelly
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    Want to run an implementation idea by the...

    Want to run an implementation idea by the group...

    I'm on travel for couple days, so limited ability to code. But I've got the Ver10 modified and ready to test with the simple 6-state Kalman and...
  2. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    quick update... All routines built and they...

    quick update...
    All routines built and they compile (woo-hoo!!)
    - cTrans.h (coord transformation)
    - kfINS6State.h (contains kfInit, kfProp, kfUpdate, and kfReset)

    Now the debugging and testing...
  3. Thread: uNav AHRS

    by Don Kelly
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    23,064

    Step 1 (coordinate transformations library) done....

    Step 1 (coordinate transformations library) done. I ended up just adding on several to Brian's previously built ones. They all compile fine, I will need to circle back and add some test cases to...
  4. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Quick update...I'm porting the Matlab code over...

    Quick update...I'm porting the Matlab code over to arduino in four chunks
    - Coordinate transformations
    - KF Initialization
    - KF Propagation
    - KF Update

    I was working on the four coordinate...
  5. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Mike, Just studied your threading code. Really...

    Mike,
    Just studied your threading code. Really impressive! Wow!!

    As i port the ins/gps KF over from matlab, i’ll build it as a separate tab/function so it can be called easily. I’m thinking i’ll...
  6. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, I'll take a look at your zip file Mon....

    Mike,
    I'll take a look at your zip file Mon. Sounds interesting!

    I'll port the Matlab test code over to the arduino Mon or Tue. After looking more at the accel data, and how noisy it is, I'm...
  7. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Got the Kalman running in Matlab with the...

    Got the Kalman running in Matlab with the collected GPS and IMU data. I'm running the filter in ECEF coordinates, so GPS LLA, GPS velNED, and accNED are all converted to ECEF then processed in the...
  8. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Here's a release of a version that writes both...

    Here's a release of a version that writes both GPS and IMU data to serial port. It sends the following to serial:

    12895

    UTC (seconds of day), dt, fix, LLA values, velNED values, PRY values,...
  9. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    EDIT to last post... After looking at the PDFs...

    EDIT to last post...

    After looking at the PDFs Mike sent, using UTC (rather than iTOW) is the way to go. Brian's uBlox library parses out the components (weeks, hrs, min, s, ns) of UTC, but looks...
  10. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Mike, Thanks, I'll read those PDFs. It turns out...

    Mike,
    Thanks, I'll read those PDFs. It turns out iTOW is a "long", so must do (float iTOW)/1000.0 to put it in float seconds. Duh, I shouldn't have missed that...

    So, even though I have the...
  11. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Thx. Think I found it... in u-center there's a...

    Thx. Think I found it... in u-center there's a rate setting under configuration, and you can set to 200ms (5Hz). so now my velocities are changing at 5Hz, but time (.iTOW) still stays the same for 5...
  12. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    My uBlox is sending data at 5Hz, but the data is...

    My uBlox is sending data at 5Hz, but the data is only changing at 1Hz. So it prints out the same numbers 5 times in a row. Anyone run across this? Is there a setting in the uBlox u-Center interface...
  13. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    A quick update... I'm running a uBlox and one...

    A quick update...

    I'm running a uBlox and one of the AHRS algorithms, and am now streaming GPS data and IMU data at 5Hz to serial. I need to add a few other terms to the stream, and then I'll go...
  14. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    12889 Here's V9. It has a DCM tab added, and...

    12889

    Here's V9. It has a DCM tab added, and then I changed the output to print out 9 terms, PRY, 3 accel NED-body, 3 accel NED-inertial (with gravity removed).

    Don
  15. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Let me send out V9 right now, pretty much V8 but...

    Let me send out V9 right now, pretty much V8 but with the DCM tab added. Don
  16. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Don't think I saw the GPS isr code, so an example...

    Don't think I saw the GPS isr code, so an example would be great.

    The next thing I'm planning over the next couple of days is to modify a sketch to capture the following data:
    - From IMU...
  17. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Yay, success... Got routine that puts out accel...

    Yay, success... Got routine that puts out accel in NED-inertial (with gravity removed). Turns out I had made a couple dumb mistakes in the DCM. Will post once I get it cleaned up, maybe later...
  18. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    The sensitivity of the magnetometers to external...

    The sensitivity of the magnetometers to external metal and magnetic fields makes AHRS a bear! Unless the device is out in open space I suppose...

    This would tend to make me think that keeping PR...
  19. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    12876 Here's an AHRS Filters Version8, all I...

    12876

    Here's an AHRS Filters Version8, all I did was simplify the serial print so that it just prints PRY now.

    I decided to just leave the sketch as just a "single-filter-select" sketch for now...
  20. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, Yes, I'm guessing something like this...

    Mike,
    Yes, I'm guessing something like this approach is the way to go, if the AHRS outputs quaternions. If it's an Euler AHRS, I think a DCM rotation is applied.

    I'll give it a try. I'll need to...
  21. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Brian, I was taking the accel values (NED-body)...

    Brian,
    I was taking the accel values (NED-body) directly out of your MPU9250 library, removing gravity, then using a DCM (using PRY from AHRS) to transpose the accel values to NED-inertial. I...
  22. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    I'm also looking forward to integrating in GPS...

    I'm also looking forward to integrating in GPS soon, which I think Brian is investigating options right now. My vote would be to start with a simple loosely-coupled KF running after the AHRS. Then...
  23. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, I'll create us a "final" MPU9250_Filters...

    Mike,
    I'll create us a "final" MPU9250_Filters (version 8) that will allow the user to select some number (maybe 3?) of filters and then compare them using TelemetryViewer. How's that sound?

    I've...
  24. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, In Brian's code, the L _* Q_...

    Mike,
    In Brian's code, the L _* Q_ *L_.transpose() is the accumulated process noise term added at each propagation step. Sometimes this whole term is written as the process noise "Q", but in his...
  25. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    12856 Mike, Here's V7. I added the Mahony...

    12856

    Mike,
    Here's V7. I added the Mahony (which looks to be a slight variant of what you already had as AHRS), and verified its PRY output is correct. I also went through and cleaned up the code...
  26. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
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    23,064

    Not clear on what you mean by Kris iterates the...

    Not clear on what you mean by Kris iterates the filter 10 times before the next update. Does he set dt = 0, and then just loops through the filter 10 times?

    On the sampling side, I need to get...
  27. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, Shall I add the original Mahony filter in...

    Mike,
    Shall I add the original Mahony filter in as MARG 2? I have a version from the Madgwick site, which is what Kris was using as well I believe.

    EDIT: Just saw your other note... yes, a...
  28. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Will do. Just went thru all the MARGs, signs look...

    Will do. Just went thru all the MARGs, signs look great. the MARG 3 values have right sign, but (like you mentioned earlier) they don't settle down. I'll take a look at that today, along with adding...
  29. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, are you ok with me making a couple of...

    Mike,
    are you ok with me making a couple of tweaks to your V6 to make a V7? the INT pin is hard-wired to PIN 14 in the IMU setup tab, and I thought I'd insert some more comments perhaps. Am stepping...
  30. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, Downloading your latest, will look at it...

    Mike,
    Downloading your latest, will look at it this morning.

    I need to check out Kris' STmicro IMU. How do you like it? Joop Brokking appears to have gone to an ST-based flight controller design...
  31. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, Just ran through Ver5, and it looks like...

    Mike,
    Just ran through Ver5, and it looks like the MARG 3 signs are correct, but the pitch and yaw values aren't starting at 0 for me. For MARG 4, the sign on roll and yaw are backwards now. MARG 6...
  32. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, Yesterday was drone work, today i’m tied...

    Mike,
    Yesterday was drone work, today i’m tied up with another project. But tues and wed are pretty open so i’ll hit it hard again then. Anxious to try your new version!! Looks like you’ve made even...
  33. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, Really nice!! Impressive to see it come...

    Mike,
    Really nice!! Impressive to see it come together as a pretty complete library!

    I took a quick look and MARG 0,1,3, and 5 are all working well here. I see a couple of tweaks needed. I think...
  34. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    I'm done now! Just poured a glass of wine... time...

    I'm done now! Just poured a glass of wine... time to kick back for the evening!
    Don
  35. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, The Madgwick seems to work on the first...

    Mike,
    The Madgwick seems to work on the first release of your code (when I input the sensors as NWU), but a sign is off in the second release. I noticed on your second release of the code, the...
  36. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, I think your discovery may be correct. I...

    Mike,
    I think your discovery may be correct. I just negated the y and z terms for the Madgwick and I think it's aligned now to yaw pitch and roll...

    So it does seem Madgwick is using a NWU...
  37. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, That might be the trick! ... if Madgwick...

    Mike,
    That might be the trick! ... if Madgwick is using a NWU (North West Up) frame. That frame is rarely used in the aerospace apps that I've been involved with, but not difficult to transform...
  38. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Here's a link to my memo on alignment, too large...

    Here's a link to my memo on alignment, too large to upload to this forum...

    https://www.dropbox.com/s/dw0z71jrdksepz8/MPU9250%20Axes%20Alignment%2C%20DKelly%2C%20020318.pdf?dl=0
  39. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Attachment here:12837

    Attachment here:12837
  40. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Here's a sketch and a memo that discusses how to...

    Here's a sketch and a memo that discusses how to verify that a MPU9250 is aligned and producing sensor outputs consistent with a NED body frame (per Brian's library). I wanted to document it for...
  41. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, On my SparkFun MPU92050 board, there's a...

    Mike,
    On my SparkFun MPU92050 board, there's a NED axis labeled for the accel and gyro axes. For a NED body frame, usually what's assumed is
    - X points through nose of aircraft
    - Y points through...
  42. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, you're using INT on pin 14, I'm using INT...

    Mike, you're using INT on pin 14, I'm using INT on pin 1. That might be it...
    Don
  43. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    I just tried ...

    I just tried

    MadgwickAHRSupdateIMU(gy,gx,-gz,ay,ax,-az)

    ...and it gave me a NED solution for PRY but rotated in the horizontal by 90 deg. So it's almost like the Madgwick filter wants the...
  44. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, I'm getting sign errors in the outputs of...

    Mike,
    I'm getting sign errors in the outputs of the four MARG filters in your latest sketch, much like I was getting yesterday with the Mahony and Madgwicks I was running. For example, for MARG 1...
  45. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, thx for the paper. The author shows an...

    Mike, thx for the paper. The author shows an algorithm for yaw from magnetometers in a nice form, so I may add that to my complementary filter routine so that I'll have both PR and PRY versions, sort...
  46. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Here's the sketch with the complimentary...

    Here's the sketch with the complimentary filter... all working with Brian's MPU9250 library.

    Note that this complementary filter just uses gyro data to estimate pitch and roll, and accel data to...
  47. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Awesome!! I just pulled in Joop's complementary...

    Awesome!! I just pulled in Joop's complementary filter and am getting it ported over to work with Brian's MPU9250 library. Joop's version was designed for reading the raw MPU6050 registers and then...
  48. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, That'd be fantastic! Tomorrow I'll work on...

    Mike,
    That'd be fantastic! Tomorrow I'll work on the simple Complementary Filter I used on my first drone, it's from Joop Brokking, works very well, no mag inputs.

    I've had frustrating day with...
  49. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Thats the kind of thing i was starting to pull...

    Thats the kind of thing i was starting to pull together: Complementary, Mahony (w and w/o mag), Madgwick (w and w/o mag), EKF Euler, EFK Quaternion... I had Winer's Mahony and Madgwick working using...
  50. Thread: uNav AHRS

    by Don Kelly
    Replies
    464
    Views
    23,064

    Mike, you mentioned "I have the madgwick, Mahoney...

    Mike, you mentioned "I have the madgwick, Mahoney and DCM filters broken out into header files that you can just call. If you want I can post them then you can just call them." I've been fighting...
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