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Re: [Paparazzi-devel] Aspirin IMU calibration


From: Felix Ruess
Subject: Re: [Paparazzi-devel] Aspirin IMU calibration
Date: Fri, 27 Jan 2012 17:59:12 +0100

That looks correct :-)

You don't get any position and speed information in x and y, because
you don't have any measurements available for this. In your case gps
is probably the only source and you don't have a lock.
For z the barometer is used, so that should be correct.

On Fri, Jan 27, 2012 at 5:42 PM, Bruzzlee <address@hidden> wrote:
> god d****
> .... my bad - I forgot to turn it over completely....
> Now I also don't have any Warnings
>
> Maybee not the best calibration but It's at least a valid one. - I think
>
> But I still get no value on ins_x, ins_y, ins_xd and ins_yd
>
> Any guess?
>
> initial guess : avg 9.58903974536 std 0.125885389868
> optimized guess : avg 9.80927525067 std 0.084316462846
>
> <define name="ACCEL_X_NEUTRAL" value="1"/>
> <define name="ACCEL_Y_NEUTRAL" value="-2"/>
> <define name="ACCEL_Z_NEUTRAL" value="-12"/>
> <define name="ACCEL_X_SENS" value="38.3387847951" integer="16"/>
> <define name="ACCEL_Y_SENS" value="37.4286320087" integer="16"/>
> <define name="ACCEL_Z_SENS" value="39.5460256842" integer="16"/>
>
>
>
>
> On 27.01.12 17:28, Felix Ruess wrote:
>>>
>>> See the new plot/values I've sent.
>>
>> Did you forget to attach a new plot? I meant the last plot you sent,
>> where you already turned the imu. But you can see that you didn't
>> measure positive acceleration on the red axis (must be z, since that
>> is bogus).
>>
>>>  <define name="ACCEL_X_SENS" value="11.3974686454" integer="16"/>
>>>  <define name="ACCEL_Y_SENS" value="11.3636783698" integer="16"/>
>>>  <define name="ACCEL_Z_SENS" value="1.83010150526" integer="16"/>
>>> is it in a valid range?
>>
>> No. Since the imu has one 3-axis sensor, all have more or less the
>> same scale (sensitivity).
>>
>>> On Fri Jan 27 17:11:16 2012, Felix Ruess wrote:
>>>>
>>>> Hi Bruzzlee,
>>>>
>>>> if this
>>>>
>>>>  <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"/>
>>>>
>>>> is your calibration I can guarantee it is wrong: the z-axis scale is
>>>> nearly four times as high.
>>>>
>>>> By quickly looking at the plot it also seems like you missed one axis
>>>> (the red one, z?)
>>>>
>>>> Cheers, Felix
>>>>
>>>>
>>>> On Fri, Jan 27, 2012 at 4:54 PM, Bruzzlee<address@hidden>
>>>>  wrote:
>>>>>
>>>>> 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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