Comments (36)
tomgraph79
commented on September 23, 2024
Ups! What happend to the font size?
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kriswiner
commented on September 23, 2024
Well, are you saying you don;t know how to calibrate the sensors?
Roll and pitch should be less than 1 degree when the sensors are properly
calibrated and the sensor is lying flast and motionless, like on a table.
The yaw will only be zero when the axis you have chosen for North is
pointed along the magnetic north direction.
…On Mon, Nov 19, 2018 at 1:28 PM tomgraph79 ***@***.***> wrote:
Dear Kris,
thank you for sharing your fantastic libraries and documentation! : )
I 'm using a ESP32 DevKit Combo Board with a InvenSense MPU9250.
I could upload your script and it seems that everything is running fine.
But i suppose the Calibration is not working properly.
I would like to have the value 0 for all angles (roll, pitch, yaw) after
the calibration.
Do you have any idea, how i could handle that?
Thank you and sorry for my bad English ; )
Thomas
Scanning...
I2C device found at address 0x0C !
I2C device found at address 0x68 !
done
MPU9250 9-axis motion sensor...
MPU9250 I AM 73 I should be 71
MPU9250 is online...
x-axis self test: acceleration trim within : 0.3% of factory value
y-axis self test: acceleration trim within : -3.4% of factory value
z-axis self test: acceleration trim within : -0.1% of factory value
x-axis self test: gyration trim within : -4.0% of factory value
y-axis self test: gyration trim within : -1.1% of factory value
z-axis self test: gyration trim within : 0.5% of factory value
Calibrate gyro and accel
accel biases (mg)
976.38
-273.19
-974.18
gyro biases (dps)
-1.16
1.56
1.89
MPU9250 initialized for active data mode....
AK8963 I AM 48 I should be 48
AK8963 initialized for active data mode....
Mag Calibration: Wave device in a figure eight until done!
Mag Calibration done!
AK8963 mag biases (mG)
101.82
-300.11
-158.42
AK8963 mag scale (mG)
1.10
0.90
1.02
X-Axis sensitivity adjustment value 1.19
Y-Axis sensitivity adjustment value 1.19
Z-Axis sensitivity adjustment value 1.15
MS5637 pressure sensor reset...
PROM dta read:
C0 = 14080
C1 = 14080
C2 = 14080
C3 = 14080
C4 = 14080
C5 = 14080
C6 = 14080
Checksum = 13 , should be 3 Yaw: 5.50 Pitch: 0.00 Roll: 0.00 Yaw: 39.92
Pitch: 62.81 Roll: -63.46 Yaw: 38.67 Pitch: 63.06 Roll: -64.81 Yaw: 37.43
Pitch: 63.28 Roll: -66.12
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tomgraph79
commented on September 23, 2024
Thank you for your reply. That was very quick! : )
When i point the X or Y axis exactly to north, i get +/- 180° for roll, +/- 0° for pitch and around 70° for yaw.
If it's stabil i can work with it, because i can do the offset later in my 3d program.
But why is the yaw not +/- 90 °?
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tomgraph79
commented on September 23, 2024
another thing i just realized:
When i want to make the pitch a 360° turn, after arround 90° it goes back 89°, 87°, 86°, ... 0° instead of 91°, 92°,93°, ... 360°.
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tomgraph79
commented on September 23, 2024
ok, after some calibration test, now i got 0° for all angles.
But i still have the Problem with the Pitch rotation. It allways goes back after a 90° turn.
What could cause this problem?
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kriswiner
commented on September 23, 2024
Are you feeding the fusion filter the sensor data in the correct order, NED?
…On Tue, Nov 20, 2018 at 7:55 AM tomgraph79 ***@***.***> wrote:
ok, after some calibration test, now i got 0° for all angles.
But i still have the Problem with the Pitch rotation. It allways goes back
after a 90° turn.
What could cause this problem?
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tomgraph79
commented on September 23, 2024
where can i make these settings or find out?
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kriswiner
commented on September 23, 2024
What are you using for your sensor fusion?
…On Tue, Nov 20, 2018 at 11:05 AM tomgraph79 ***@***.***> wrote:
where can i make these settings or find out?
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tomgraph79
commented on September 23, 2024
I'm using your code "MPU9250_MS5637_AHRS.ino" and up to now i didn't change very mutch. Actually just a couple of snippets to get a Midi Signal out.
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kriswiner
commented on September 23, 2024
Fine, doesn't mean its correct. Can you answer my original question please?
…On Tue, Nov 20, 2018 at 4:05 PM tomgraph79 ***@***.***> wrote:
I'm using your code "MPU9250_MS5637_AHRS.ino" and up to now i didn't
change very mutch. Actually just a couple of snippets to get a Midi Signal
out.
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tomgraph79
commented on September 23, 2024
i tried both: the MahonyQuaternion and MadgwickQuaternion and both together.
In all cases the same result! : (
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kriswiner
commented on September 23, 2024
" both together" what??!!
The sensor data need to be put into these functions (one or the other) in
NED or ENU convention order.
So An, Ae, Ad, Gn, Ge, Gd, Mn, Me, Md order.
Is this what you are doing?
…On Tue, Nov 20, 2018 at 4:42 PM tomgraph79 ***@***.***> wrote:
i tried both: the MahonyQuaternion and MadgwickQuaternion and both
together.
In all cases the same result! : (
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tomgraph79
commented on September 23, 2024
actually this are just 2 options, right. NED and ENU.
I tried both versions of calibration. so one should have been right.
Or do i have to change the code anyway?
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kriswiner
commented on September 23, 2024
This has nothing to do with calibration...
…On Tue, Nov 20, 2018 at 5:47 PM tomgraph79 ***@***.***> wrote:
actually this are just 2 options, right. NED and ENU.
I tried both versions of calibration. so one should have been right.
Or do i have to change the code anyway?
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tomgraph79
commented on September 23, 2024
well, in the code is the order x, y, z.
If i point x to north, than has the sensor be down, right.
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kriswiner
commented on September 23, 2024
Are you choosing Ax as North?
…On Tue, Nov 20, 2018 at 6:20 PM tomgraph79 ***@***.***> wrote:
well, in the code is the order x, y, z.
If i point x to north, than has the sensor be down, right.
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tomgraph79
commented on September 23, 2024
MahonyQuaternionUpdate(ax, ay, az, gxPI/180.0f, gyPI/180.0f, gz*PI/180.0f, mx, my, mz);
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kriswiner
commented on September 23, 2024
Good, now is this in NED or ENU order? Needs to be in one of them...
…On Tue, Nov 20, 2018 at 6:52 PM tomgraph79 ***@***.***> wrote:
MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f,
gz*PI/180.0f, mx, my, mz);
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tomgraph79
commented on September 23, 2024
isn't it?
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tomgraph79
commented on September 23, 2024
you mean during the calibration?
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kriswiner
commented on September 23, 2024
I am waiting for your answer...
…On Tue, Nov 20, 2018 at 6:56 PM tomgraph79 ***@***.***> wrote:
isn't it?
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kriswiner
commented on September 23, 2024
Nope...
…On Tue, Nov 20, 2018 at 6:57 PM tomgraph79 ***@***.***> wrote:
you mean during the calibration?
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tomgraph79
commented on September 23, 2024
but in the code isn't defined which axis needs to pint to north
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tomgraph79
commented on September 23, 2024
point
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kriswiner
commented on September 23, 2024
Right, you select.
…On Tue, Nov 20, 2018 at 7:01 PM tomgraph79 ***@***.***> wrote:
point
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tomgraph79
commented on September 23, 2024
during calibration, right
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tomgraph79
commented on September 23, 2024
you mean the order in this line is wrong?
MahonyQuaternionUpdate(ax, ay, az, gxPI/180.0f, gyPI/180.0f, gz*PI/180.0f, mx, my, mz);
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kriswiner
commented on September 23, 2024
This function isn't used during calibration.
Sounds like you have no idea what you are doing...
…On Tue, Nov 20, 2018 at 7:03 PM tomgraph79 ***@***.***> wrote:
during calibration, right
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tomgraph79
commented on September 23, 2024
i just try to understand the code!
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kriswiner
commented on September 23, 2024
The sensor data need to be fed into this function:
MahonyQuaternionUpdate(ax, ay, az, gxPI/180.0f, gyPI/180.0f, gz*PI/180.0f,
mx, my, mz);
in the correct order. That order is either NED or ENU. You select which
axis points North. Then everything else is determined by the geometry of
your sensor.
Is this what you are doing?
Until you can verify that the answer is yes, you are wasting your time and
my time.
On Tue, Nov 20, 2018 at 7:04 PM Tlera Corporation <[email protected]>
wrote:
… This function isn't used during calibration.
Sounds like you have no idea what you are doing...
On Tue, Nov 20, 2018 at 7:03 PM tomgraph79 ***@***.***>
wrote:
> during calibration, right
>
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tomgraph79
commented on September 23, 2024
when i understand you right, then means NED:
MahonyQuaternionUpdate(ax, ay, az, gxPI/180.0f, gyPI/180.0f, gz*PI/180.0f,
mx, my, mz);
when x axis is pointing north with z axis is down.
and ENO:
MahonyQuaternionUpdate(ay, ax, az, gyPI/180.0f, gxPI/180.0f, gz*PI/180.0f,
my, mx, mz);
when y axis is pointing north with z axis is up.
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tomgraph79
commented on September 23, 2024
of course i don't want to waste your time!
i will find the solution!
Thanks for everything : )
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kriswiner
commented on September 23, 2024
Check Fig 1 in the data sheet for help here.
…On Tue, Nov 20, 2018 at 7:26 PM tomgraph79 ***@***.***> wrote:
of course i don't want to waste your time!
i will find the solution!
Thanks for everything : )
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tomgraph79
commented on September 23, 2024
you mean the data sheet for mpu9250?
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kriswiner
commented on September 23, 2024
I thought you were using the LSM9DS1, but look in the MPU9250 data sheet
for the orienation of sensor axes. The sensor order you are using cannot be
correct.
…On Tue, Nov 20, 2018 at 7:32 PM tomgraph79 ***@***.***> wrote:
you mean the data sheet for mpu9250?
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tomgraph79
commented on September 23, 2024
no, i'm using MPU9250.
Thanks! : ) i will check the data sheet tomorrow.
no i need to go to sleep ; ) it's 4:37
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