Re: [Paparazzi-devel] Aspirin IMU calibration

[Bruzzlee]

Hi Felix
Sorry. the screen shot was from a wrong measurement....
I think the acceleration calibration was successful (even if I still get 
the RuntimeWarning)

But:
The ins_x and ins_y values in the Messages (ins_xd and ins_yd) are 
staying on 0.
The RAW data seem to be ok.
I think it has something to do with the Gyro settings.
See attached airframe.

Thx 4 help


On 27.01.12 16:23, Felix Ruess wrote:
> Hi,
>
> @Eduardo: Why didn't you also use the neutrals you get from the
> calibration? Should be better than trying to take the correct neutrals
> "by hand" from the messages (e.g. the axes might not be 100% aligned
> with the gravity vector).
>
> @Bruzzlee: You already get a warning and the sens values are totally
> different. It can't work properly, as you didn't move the imu. You
> have to take measurements with the imu "turned on all sides" at least
> once. http://paparazzi.enac.fr/wiki/ImuCalibration#How_to_use_it
>
> Cheers, Felix
>
> On Fri, Jan 27, 2012 at 3:32 PM, Bruzzlee<address@hidden>  wrote:
> > He all
> > thx 4 the answer
> >
> > Stupid question to LisaM: Has the Aspirin to be upside or downside? ;-) The
> > sign of the Z-Axis on the Aspirin shows a circle with a dot, so I was
> > guessing that the IMU should be on top.
> >
> > I managed to get my RAW datas by using the normal AP firmware and changing
> > the telemetry mode in the GCS Settings to RAW.
> > I got some values out of the script. See attachment.
> >
> >
> > The PFD is still rotating.....
> >
> > Terminal output:
> > ./calibrate.py -i 1 -s ACCEL
> > '/home/bruzzlee/Paparazzi/paparazzi_odonata/var/logs/12_01_27__15_14_37.data'
> > initial guess : avg 7.19678733577 std 2.2245311935
> > /usr/lib/python2.7/dist-packages/scipy/optimize/minpack.py:318:
> > RuntimeWarning: Number of calls to function has reached maxfev = 1400.
> >   warnings.warn(errors[info][0], RuntimeWarning)
> > optimized guess : avg 9.80925677574 std 0.00967142874765
> >
> > <define name="ACCEL_X_NEUTRAL" value="-935"/>
> > <define name="ACCEL_Y_NEUTRAL" value="-851"/>
> > <define name="ACCEL_Z_NEUTRAL" value="-267"/>
> > <define name="ACCEL_X_SENS" value="8.13419611628" integer="16"/>
> > <define name="ACCEL_Y_SENS" value="7.73102782993" integer="16"/>
> > <define name="ACCEL_Z_SENS" value="29.0050445772" integer="16"/>
> >
> >
> >
> >
> > On Fri Jan 27 14:58:08 2012, Christoph Niemann wrote:
> > > Hi,
> > >
> > > I got my File. But an idea: Perhaps the test program doesn't support
> > > the xbee api? Or is it transparent? If it is using the api i would
> > > suggest to connect directly to the UART.
> > >
> > > Good luck
> > >
> > > Christoph
> > >
> > > 2012/1/27 Bruzzlee<address@hidden<mailto:address@hidden>>
> > >
> > >
> > > Hi all
> > > Has anyone successfully created a Aspirin IMU calibration file
> > > according to this tutorial?
> > > http://paparazzi.enac.fr/wiki/__ImuCalibration
> > >
> > > <http://paparazzi.enac.fr/wiki/ImuCalibration>
> > >
> > > I've never received the calibration file from jobyrobotics so I
> > > tried to create my own.
> > >
> > > I tried "test_imu_aspirin" on lisa_m_1.0 board but then the Xbee
> > > gets no data.
> > >
> > > Any hint?
> > >
> > > Thx Bruzzlee
> > >
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> > >
> > >
> > >
> > >
> > >
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airframe.xml
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