Re: [Paparazzi-devel] Mysterious AHRS drift on psi - Aspirin 1.5 Magnetometer

[alonso acuña]

Hi. I had a similar issue. See http://lists.gnu.org/archive/html/paparazzi-devel/2013-12/msg00025.html . In the end after calibratig for like the 5th time I was unable to reproduce the problem and haven't seen it since. I did not upgrade the software or any other changes. I would suggest calibrating with the chip mounted on a simple base where there is nothing that could affect the magnetometer and which is easy to move around, just to make sure the chip and software are ok. Good luck!

On Sun, Mar 30, 2014 at 4:27 PM, Bruzzlee <address@hidden> wrote:

Hello paparazzi community

After 8h of trying to get rid of my drift on phi you are my last hope.
Every hint is useful!

I think it has something to do with the AHRS.
Compensation of psi drift with MAG

The plot shows a fast 90° turn clockwise and back again.
In the lower plot you also can that the bias changes a lot, is that "normal"?

Lisa M 1.0 + Aspirin IMU 1.5
(I did the calibration of Accel and mag a few time with similar results)

Thx for any hint!
Bruzzlee

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