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  1. Replies
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    Brian, That sounds perfect. Will be glad to...

    Brian,
    That sounds perfect. Will be glad to volunteer to help test or debug it! Think this will be really useful for M8P and F9P RTK ops, as I can see where we may want to send UART RTCM3 data to...
  2. Thread: uNav INS

    by Don Kelly
    Replies
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    130,657

    Hi Mike, Brain, Tim, Happy Holidays! Am...

    Hi Mike, Brain, Tim,
    Happy Holidays! Am following along with your testing Mike, looks interesting.

    I'm still refining my M8P RTK work using the SparkFun M8P-02 boards. The M8P-02 requires RTCM3...
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    Has anyone tried to use Brian's ublox library to...

    Has anyone tried to use Brian's ublox library to parse UBX-NAV-PVT via I2C? I'm using the I2C interface to the SparkFun RTK (M8P) board with its nice Qwiic I2C interface. The...
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    Mike, Is this what you're looking for? ...

    Mike,

    Is this what you're looking for?

    https://www.u-blox.com/sites/default/files/u-blox_ZED-F9P_InterfaceDescription_%28UBX-18010854%29.pdf
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    Hi Brian, I ordered two from CSG several weeks...

    Hi Brian,
    I ordered two from CSG several weeks ago, and about two weeks ago I got a message they were getting ready to ship. Not sure what it meant, so I guess I'm unsure if they've shipped or if...
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    Mike, Thx. For RTK operations, there's a "high...

    Mike,
    Thx. For RTK operations, there's a "high precision" UBX message (UBX-NAV-HPPOSECEF) that I want to parse, in addition to the info that's in the regular (UBX-NAV-PVT) message. So I'll likely...
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    Mike, I took a look at the examples. In the...

    Mike,
    I took a look at the examples. In the Ublox2 example, were you all experimenting with reading multiple ubx messages concurrently? I know Brian's library was originally intended to just read...
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    Thanks Mike, will try it out soon!! Happy...

    Thanks Mike, will try it out soon!! Happy holidays. Don
  9. Replies
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    Chris O, Where might I get your latest updates...

    Chris O,
    Where might I get your latest updates on Brian's UBlox Library? I'm doing some RTK GPS testing using Brian's library, and I'm thinking some of your mods would be very helpful. I'm wanting...
  10. Replies
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    I’ve got a set of these backpacks, and am...

    I’ve got a set of these backpacks, and am building a simple flight controller using the imu, pwm, and gps backpacks. If others are interested in following along, or helping, let me know. I already...
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    Looks interesting Brian, i’d be interested in...

    Looks interesting Brian, i’d be interested in them...
  12. Thread: uNav AHRS

    by Don Kelly
    Replies
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    135,289

    Hi Mike, Sorry I've been offline for the last...

    Hi Mike, Sorry I've been offline for the last couple months. Been consumed with delivering RTK units for a small fleet of drones. Your YAKF sounds interesting, I'll take a look!

    You and Brian were...
  13. Thread: uNav AHRS

    by Don Kelly
    Replies
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    135,289

    Very cool! As far as power, I am supplying the...

    Very cool! As far as power, I am supplying the BBB with external 5V. But I'm using a USB hub to then power both the M8T GPS board and WiFi dongle, so maybe those two are not getting enough from the...
  14. Thread: uNav AHRS

    by Don Kelly
    Replies
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    135,289

    Awesome. Will be glad to help with testing or...

    Awesome. Will be glad to help with testing or whatever!

    I've just got RTK running on the Beaglebone Black (BBB) with WiFi adapter (to pull in base station data). I'm having issues with WiFi...
  15. Thread: uNav INS

    by Don Kelly
    Replies
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    130,657

    Mike, I have one of Brian's Marmot boards,...

    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...
  16. Thread: uNav INS

    by Don Kelly
    Replies
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    130,657

    Mike, The Tallyman antenna is one of the...

    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...
  17. Thread: uNav INS

    by Don Kelly
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    130,657

    another note... I just traded emails with Jerome...

    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...
  18. Thread: uNav INS

    by Don Kelly
    Replies
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    130,657

    Mike, I need to set up RTKLIB this week. I'm...

    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...
  19. Thread: uNav INS

    by Don Kelly
    Replies
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    130,657

    Mike, Tim, Brian, tonton81, Did you all see this...

    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...
  20. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    ordered, thx! Don

    ordered, thx!
    Don
  21. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    I'll start with just one of the M8Ts. But the...

    I'll start with just one of the M8Ts. But the nearest CORS to me via the map is 18+km.
    Thx!
    Don
  22. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    Mike, What will you use for base station?...

    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
  23. Thread: uNav INS

    by Don Kelly
    Replies
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    130,657

    Mike, Which Drotek M8T did you get, the plain...

    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...
  24. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    Mike, Thx. I ordered the same one via ebay as...

    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...
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    Thx Chris!

    Thx Chris!
  26. Replies
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    Chris, Looking at your Example and cpp code. Am...

    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...
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    Mike, Thx! Am headed to apt, but taking the...

    Mike,
    Thx! Am headed to apt, but taking the Example sketch to study. Is there any trick to trying out the PPS feature?

    Don
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    Mike, Thx, was just starting to look at Chris'...

    Mike,

    Thx, was just starting to look at Chris' mods, and was trying to figure out what to grab. Thx!!
    Don
  29. Thread: uNav INS

    by Don Kelly
    Replies
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    130,657

    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...
  30. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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...
  31. Thread: uNav INS

    by Don Kelly
    Replies
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    130,657

    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....
  32. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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
  33. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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
  34. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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...
  35. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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...
  36. Thread: uNav INS

    by Don Kelly
    Replies
    678
    Views
    130,657

    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
  37. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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...
  38. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    tonton81, Tested the updated circular_buffer,...

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

    by Don Kelly
    Replies
    678
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    130,657

    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
  40. Thread: uNav INS

    by Don Kelly
    Replies
    678
    Views
    130,657

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

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

    by Don Kelly
    Replies
    678
    Views
    130,657

    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...
  42. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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...
  43. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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 =: ");...
  44. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    Great, gracias!! Don

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

    by Don Kelly
    Replies
    678
    Views
    130,657

    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...
  46. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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 <<<<<<<<<<<<<<<");
    ...
  47. Thread: uNav INS

    by Don Kelly
    Replies
    678
    Views
    130,657

    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...
  48. Thread: uNav INS

    by Don Kelly
    Replies
    678
    Views
    130,657

    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...
  49. Thread: uNav INS

    by Don Kelly
    Replies
    678
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    130,657

    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...
  50. Thread: uNav INS

    by Don Kelly
    Replies
    678
    Views
    130,657

    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...
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