Re: [Paparazzi-devel] problems when calibrating IMU

[Felix Ruess]

Hi Gunnar,

you have to log the raw IMU data, for the accelerometer that would be the IMU_ACCEL_RAW message.
You have to switch the telemetry mode to "raw sensors", you actually get the needed data.
See http://paparazzi.enac.fr/wiki/ImuCalibration#How_to_Calibrate_Your_IMU

Btw, the calib scripts in the transition-robotics/toytronics branch are a bit outdated...

In recent paparazzi versions they are a bit more user friendly and tell you if the needed log data is not found.

Cheers, Felix

On Sun, Oct 14, 2012 at 7:11 PM, gunnar lindner <address@hidden> wrote:

Hi,

I am new here and proud owner of a Quadshot
I have to calibrate the IMU as I have been told.
But when running calibrate.py i get an Error:

xxxxxxxxxxx:paparazzi xxxx$ sw/tools/calibration/calibrate.py
var/logs/12_10_14__15_37_49.data
Traceback (most recent call last):
File "sw/tools/calibration/calibrate.py", line 100, in <module>
main()
File "sw/tools/calibration/calibrate.py", line 78, in main
p0 = calibration_utils.get_min_max_guess(flt_meas, sensor_ref)
File "/Users/gunnar/paparazzi/sw/tools/calibration/calibration_utils.py",
line 83, in get_min_max_guess
max_meas = meas[:,:].max(axis=0)
IndexError: too many indices


the logfile looks like this:

2.474 162 VFF 0. 0. 0. 0. 1. 1. 1.
2.475 162 TOYTRONICS_COMMANDS 0 0 0 0 0 0
2.475 162 BOOZ2_RADIO_CONTROL 0 0 0 0 0 0 -42 2
2.506 162 AHRS_REF_QUAT 32768 0 0 0 -2248 8641 31526 332
2.522 162 GPS_INT 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
2.583 162 AHRS_REF_QUAT 32768 0 0 0 -2248 8638 31527 332
...................

is this the correct RAW format?

thank you in advance
Gunnar from Austria

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