-----Loop#:591832 IMU#:501 >> 1Sec:100049816 >> IMUcc:98025 >> Mcnt:93 & !Mcnt:408
>> New_dt Avg: 1997_ Ndt Min: 1997_ Ndt Max: 1997_ Ndt Count: 503
>> Old_dt Avg: 1995_ Odt Min: 930_ Odt Max: 3471_ Odt Count: 503
-----Loop#:591151 IMU#:500 >> 1Sec:99903192 >> IMUcc:119445 >> Mcnt:94 & !Mcnt:406
>> New_dt Avg: 1997_ Ndt Min: 1997_ Ndt Max: 1997_ Ndt Count: 501
>> Old_dt Avg: 1995_ Odt Min: 930_ Odt Max: 3470_ Odt Count: 501
-----Loop#:591719 IMU#:501 >> 1Sec:100060296 >> IMUcc:98154 >> Mcnt:93 & !Mcnt:408
>> New_dt Avg: 1997_ Ndt Min: 1997_ Ndt Max: 1998_ Ndt Count: 500
>> Old_dt Avg: 1995_ Odt Min: 930_ Odt Max: 3468_ Odt Count: 500
-----Loop#:593417 IMU#:502 >> 1Sec:100290512 >> IMUcc:105799 >> Mcnt:92 & !Mcnt:410
>> New_dt Avg: 1997_ Ndt Min: 1997_ Ndt Max: 3995_ Ndt Count: 500
>> Old_dt Avg: 1995_ Odt Min: 930_ Odt Max: 3468_ Odt Count: 500
dtO = _t;
dt = FccPartSec( cctLast_IMU, ccTimeNow_IMU );
cctLast_IMU = ccTimeNow_IMU;
if ( 0 == Ndt_s[0] ) {
Ndt_s[0] = Ndt.average();
Ndt_s[1] = Ndt.min();
Ndt_s[2] = Ndt.max();
Ndt_s[3] = Ndt.size();
Ndt.clear();
Odt_s[0] = Odt.average();
Odt_s[1] = Odt.min();
Odt_s[2] = Odt.max();
Odt_s[3] = Odt.size();
Odt.clear();
}
Odt.push_back( dtO );
Ndt.push_back( 1000000 * dt );
coutD.print( " >> New_dt Avg: " );
Serial.print( Ndt_s[0] );
coutD.print( "_ Ndt Min: " );
Serial.print( Ndt_s[1] );
coutD.print( "_ Ndt Max: " );
Serial.print( Ndt_s[2] );
coutD.print( "_ Ndt Count: " );
Serial.print( Ndt_s[3] );
coutD.print( "\n >> Old_dt Avg: " );
Serial.print( Odt_s[0] );
coutD.print( "_ Odt Min: " );
Serial.print( Odt_s[1] );
coutD.print( "_ Odt Max: " );
Serial.print( Odt_s[2] );
coutD.print( "_ Odt Count: " );
Serial.print( Odt_s[3] );
coutD.println( );
Ndt_s[0] = 0;
-----Loop#:591320 IMU#:499 >> 1Sec:99781896 >> IMUcc:193114 >> Mcnt:93 & !Mcnt:406
>> New_dt Avg: 1997_ Ndt Min: 1997_ Ndt Max: 1997_ Ndt Count: 501_ Ndt Dbl: 44
>> Old_dt Avg: 1995_ Odt Min: 929_ Odt Max: 3475_ Odt Count: 501
#1618 @3:27.14_-347397 [fix:3 #:12 GPScc:218248 > cctAv:179999623 > GSecs:338.473572 > IMUdt:0.19976838 > GPSdt:0.19951047
338.671722, 47.9220, 122.2608, 104.4244, 325.0796, 48.214314,-122.450378, 34.2209
__DOUBLED__LAST> 161910 Cnt= 161912
__DOUBLED__LAST> 161912 Cnt= 161912
-----Loop#:593594 IMU#:501 >> 1Sec:100177064 >> IMUcc:196750 >> Mcnt:95 & !Mcnt:406
>> New_dt Avg: 1997_ Ndt Min: 1997_ Ndt Max: 1997_ Ndt Count: 501_ Ndt Dbl: 54
>> Old_dt Avg: 1995_ Odt Min: 930_ Odt Max: 3477_ Odt Count: 501
#1763 @3:27.43_-336153 [fix:3 #:12 GPScc:218272 > cctAv:179999630 > GSecs:367.473907 > IMUdt:0.20176561 > GPSdt:0.19997557
367.674133, 47.5579, 121.9900, 103.3034, 323.9586, 48.214302,-122.450302, 28.5642
__DOUBLED__LAST> 176428 Cnt= 176430
__DOUBLED__LAST> 176430 Cnt= 176430
---Lp#:591710 IMU#:499 > 1S:99783184 > IMUcc:194544 >> Mcnt:94
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1997_ Ndt Dbl: 8
>> Old_dt Avg: 1995_ Odt Min: 928_ Odt Max: 3470
#247 @3:50.48 [fix:3 #:8 GPScc:218266 > cctAv:179999631 > GPSdt:0.20171003
64.657059, 31.5460, 119.6303, 54.8937, 275.3936, 48.214340,-122.450356, 37.0193
__DOUBLED__LAST> 24654 Cnt= 24656
__DOUBLED__LAST> 24656 Cnt= 24656
---Lp#:594540 IMU#:501 > 1S:100075432 > IMUcc:181399 >> Mcnt:94
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1998_ Ndt Dbl: 2
>> Old_dt Avg: 1995_ Odt Min: 928_ Odt Max: 3197
#1398 @4:10.33 [fix:3 #:10 GPScc:218324 > cctAv:179999625 > GPSdt:0.20010641
---Lp#:593676 IMU#:501 > 1S:100000456 > IMUcc:97815 >> Mcnt:98
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1997_ Ndt Dbl: 2
>> Old_dt Avg: 1995_ Odt Min: 930_ Odt Max: 3195
---Lp#:592265 IMU#:499 > 1S:99684720 > IMUcc:98014 >> Mcnt:94
>> N_dt Avg: 1997_ Ndt Mn: 1996_ Ndt Mx: 1998_ Ndt Dbl: 2
>> Old_dt Avg: 1995_ Odt Min: 929_ Odt Max: 3196
---Lp#:593051 IMU#:499 > 1S:99760440 > IMUcc:173606 >> Mcnt:94
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1998_ Ndt Dbl: 2
>> Old_dt Avg: 1995_ Odt Min: 931_ Odt Max: 3195
#5958 @4:25.45 [fix:3 #:11 GPScc:218398 > cctAv:179999625 > GPSdt:0.19715509
---Lp#:594230 IMU#:500 > 1S:99966784 > IMUcc:178840 >> Mcnt:95
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1997_ Ndt Dbl: 4
>> Old_dt Avg: 1995_ Odt Min: 929_ Odt Max: 3196
#15978 @4:59.9 [fix:3 #:13 GPScc:218305 > cctAv:179999625 > GPSdt:0.19990388
---Lp#:595257 IMU#:501 > 1S:100129376 > IMUcc:144758 >> Mcnt:92
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1997_ Ndt Dbl: 5
>> Old_dt Avg: 1995_ Odt Min: 928_ Odt Max: 3198
#38433 @6:14.0 [fix:3 #:11 GPScc:218324 > cctAv:179999620 > GPSdt:0.20426333
---Lp#:18681 IMU#:136 > 1S:100512960 > IMUcc:353544 >> Mcnt:65
>> N_dt Avg: 4997_ Ndt Mn: 4997_ Ndt Mx: 4997_ Ndt Dbl: 252
>> Old_dt Avg: 4931_ Odt Min: 3247_ Odt Max: 5169
#252 @9:25.54 [fix:3 #:8 GPScc:221083 > cctAv:167999319 > GPSdt:0.21076608
__DOUBLED__LAST> 10467 Cnt= 10481
#253 @9:25.54 [fix:3 #:8 GPScc:219861 > cctAv:167999319 > GPSdt:0.18973464
__DOUBLED__LAST> 10505 Cnt= 10519
#254 @9:25.54 [fix:3 #:8 GPScc:221504 > cctAv:167999319 > GPSdt:0.19326086
__DOUBLED__LAST> 10544 Cnt= 10558
#255 @9:25.54 [fix:3 #:8 GPScc:221693 > cctAv:167999319 > GPSdt:0.20149061
__DOUBLED__LAST> 10584 Cnt= 10598
#256 @9:25.54 [fix:3 #:8 GPScc:221768 > cctAv:167999319 > GPSdt:0.20158003
__DOUBLED__LAST> 10624 Cnt= 10638
---Lp#:18379 IMU#:134 > 1S:99498552 > IMUcc:394591 >> Mcnt:62
>> N_dt Avg: 4997_ Ndt Mn: 4997_ Ndt Mx: 4998_ Ndt Dbl: 257
>> Old_dt Avg: 4932_ Odt Min: 3248_ Odt Max: 5018
#257 @9:25.55 [fix:3 #:8 GPScc:220575 > cctAv:167999319 > GPSdt:0.20892443
__DOUBLED__LAST> 10666 Cnt= 10680
---Lp#:594164 IMU#:501 > 1S:100053176 > IMUcc:96999 >> Mcnt:95
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1998_ Ndt Dbl: 6
>> Old_dt Avg: 1995_ Odt Min: 927_ Odt Max: 3199
---Lp#:593258 IMU#:500 > 1S:99872496 > IMUcc:98087 >> Mcnt:93
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1998_ Ndt Dbl: 6
>> Old_dt Avg: 1995_ Odt Min: 928_ Odt Max: 3199
---Lp#:593258 IMU#:500 > Mcnt:93 Ndt Dbl: 6
---Lp#:21771 IMU#:70 > 1S:100030800 > IMUcc:683196 >> Mcnt:64
>> N_dt Avg: 9996_ Ndt Mn: 9996_ Ndt Mx: 9996_ Ndt Dbl: 1256
>> Old_dt Avg: 9867_ Odt Min: 8303_ Odt Max: 10018
#1255 @19:30.22 [fix:3 #:7 GPScc:220183 > cctAv:167999199 > GPSdt:0.20092505
__DOUBLED__LAST> 25545 Cnt= 25552
#1256 @19:30.22 [fix:3 #:7 GPScc:220993 > cctAv:167999199 > GPSdt:0.19810477
__DOUBLED__LAST> 25565 Cnt= 25572
#1257 @19:30.22 [fix:3 #:7 GPScc:220343 > cctAv:167999199 > GPSdt:0.20114391
__DOUBLED__LAST> 25585 Cnt= 25592
#1258 @19:30.22 [fix:3 #:7 GPScc:221579 > cctAv:167999199 > GPSdt:0.20122981
__DOUBLED__LAST> 25605 Cnt= 25612
#1259 @19:30.22 [fix:3 #:7 GPScc:220561 > cctAv:167999199 > GPSdt:0.19849481
__DOUBLED__LAST> 25625 Cnt= 25632
---Lp#:21625 IMU#:70 > 1S:99660072 > IMUcc:381566 >> Mcnt:65
>> N_dt Avg: 9995_ Ndt Mn: 9995_ Ndt Mx: 9996_ Ndt Dbl: 1261
>> Old_dt Avg: 9867_ Odt Min: 8302_ Odt Max: 10018
#1260 @19:30.23 [fix:3 #:7 GPScc:219376 > cctAv:167999199 > GPSdt:0.19763555
__DOUBLED__LAST> 25645 Cnt= 25652
#1261 @19:30.23 [fix:3 #:7 GPScc:221347 > cctAv:167999199 > GPSdt:0.20266876
__DOUBLED__LAST> 25665 Cnt= 25672
#1262 @19:30.23 [fix:3 #:7 GPScc:221483 > cctAv:167999199 > GPSdt:0.19731759
__DOUBLED__LAST> 25685 Cnt= 25692
#1263 @19:30.23 [fix:3 #:7 GPScc:220679 > cctAv:167999199 > GPSdt:0.20167968
__DOUBLED__LAST> 25705 Cnt= 25712
#1264 @19:30.23 [fix:3 #:7 GPScc:219622 > cctAv:167999199 > GPSdt:0.19843487
---Lp#:33649 IMU#:101 > 1S:100453448 > IMUcc:411763 >> Mcnt:99
>> N_dt Avg: 9996_ Ndt Mn: 9996_ Ndt Mx: 9996_ Ndt Dbl: 1
>> Old_dt Avg: 9988_ Odt Min: 9654_ Odt Max: 10163
#69 @19:42.28 [fix:3 #:7 GPScc:220126 > cctAv:167999152 > GPSdt:0.20503160
#70 @19:42.28 [fix:3 #:7 GPScc:229233 > cctAv:167999151 > GPSdt:0.19712971
#71 @19:42.28 [fix:3 #:7 GPScc:221354 > cctAv:167999151 > GPSdt:0.20310731
#72 @19:42.28 [fix:3 #:7 GPScc:220208 > cctAv:167999151 > GPSdt:0.19504377
#73 @19:42.28 [fix:3 #:7 GPScc:220211 > cctAv:167999151 > GPSdt:0.20516260
---Lp#:33411 IMU#:100 > 1S:99734064 > IMUcc:182944 >> Mcnt:99
>> N_dt Avg: 9996_ Ndt Mn: 9996_ Ndt Mx: 9996_ Ndt Dbl: 1
>> Old_dt Avg: 9994_ Odt Min: 9791_ Odt Max: 10163
#74 @19:42.29 [fix:3 #:7 GPScc:221704 > cctAv:167999151 > GPSdt:0.19688143
#75 @19:42.29 [fix:3 #:7 GPScc:220411 > cctAv:167999115 > GPSdt:0.19985212
#76 @19:42.29 [fix:3 #:7 GPScc:220744 > cctAv:167999115 > GPSdt:0.19994153
#77 @19:42.29 [fix:3 #:7 GPScc:219644 > cctAv:167999115 > GPSdt:0.19345319
#78 @19:42.29 [fix:3 #:7 GPScc:220961 > cctAv:167999115 > GPSdt:0.20658559
Hi Tim
The T3.5 is running at 168Mhz as well as the slave. I just changed to 100Hz updates for the IMU and still getting doubles, here is a sample:
Code:---Lp#:21771 IMU#:70 > 1S:100030800 > IMUcc:683196 >> Mcnt:64 >> N_dt Avg: 9996_ Ndt Mn: 9996_ Ndt Mx: 9996_ Ndt Dbl: 1256 >> Old_dt Avg: 9867_ Odt Min: 8303_ Odt Max: 10018 #1255 @19:30.22 [fix:3 #:7 GPScc:220183 > cctAv:167999199 > GPSdt:0.20092505 ---Lp#:21625 IMU#:70 > 1S:99660072 > IMUcc:381566 >> Mcnt:65 >> N_dt Avg: 9995_ Ndt Mn: 9995_ Ndt Mx: 9996_ Ndt Dbl: 1261 >> Old_dt Avg: 9867_ Odt Min: 8302_ Odt Max: 10018 #1260 @19:30.23 [fix:3 #:7 GPScc:219376 > cctAv:167999199 > GPSdt:0.19763555
Now, here is the problem I am now having with the methodology that we are using. Please don't take what I about to say wrong. You and Don put a lot into this and I am learning a lot. I am doing some other things that I haven't posted yet like I am about to mention.
If I can simply run a non-EKF solution to get stable YPR and run an EKF for the GPS (See the example I posted a few examples ago). I can then probably run it on a T3.5/T3.6 or T3.2. We are forcing ourselves into a corner and limiting the applicability of the uNAVIns to a T3.6 Master. If I start throwing other stuff into the mix, like other sensors (since I am also now using the barometer) and using sSer3 method to send commands from the slave I am probably going to throw the whole thing off. Maybe we need to start thinking about a different approach. This is just my two cents.
As a update to kind of proving the point I just turned off the Baro and no doubles:
Code:---Lp#:33649 IMU#:101 > 1S:100453448 > IMUcc:411763 >> Mcnt:99 >> N_dt Avg: 9996_ Ndt Mn: 9996_ Ndt Mx: 9996_ Ndt Dbl: 1 >> Old_dt Avg: 9988_ Odt Min: 9654_ Odt Max: 10163 ---Lp#:33411 IMU#:100 > 1S:99734064 > IMUcc:182944 >> Mcnt:99 >> N_dt Avg: 9996_ Ndt Mn: 9996_ Ndt Mx: 9996_ Ndt Dbl: 1 >> Old_dt Avg: 9994_ Odt Min: 9791_ Odt Max: 10163
---Lp#:594881 IMU#:501 > 1S:100100328 > IMUcc:112236 >> Mcnt:93
>> N_dt Avg: 1997_ Ndt Mn: 1997_ Ndt Mx: 1998_ Ndt Dbl: 7
>> Old_dt Avg: 1995_ Odt Min: 928_ Odt Max: 3200
Tim - know I put a lot into the last message. But I did trace what was causing the doubles - it was the MS5637 pressure sensor causing the problem.
Depending on the OSR selected there is a built-in delay (per spec) between when reading the sensor. It increases for higher OSRs. Example: For an OSR_8192 there is a 34ms delay while for a OSR_1024 there is 10ms delay. At 512 its 6ms.
Once I changed the OSR to 1024, for SRD9 it worked fine no issue with double hits. Unfortunately for an SRD4 can't use the sensor.
Mike