5 replies to this topic

[peabody124]

So here is a little video on how to calibrate the INSGPS, and how to get it work for either indoor or outdoor use.



Note: currently selecting indoor mode where I did doesn't work. Use the UAVObject browser and change it under HomeLocation.Indoors.

[Bani Greyling]

I've done the calibration, but does not see the model view tracking the AHRS as I expected. If I pitch nose up, it then banks instead.

Upon further investigation I saw that X and Y accelerometer data seem to get swapped around between raw data and and filtered data...not sure if this even relevant to what I see.

See attached screen dump of scope. The first rotation was around the Y-axis, and the second one was around the X-axis.

I was using the simple algorithm with the latest from the repository for pilot and ahrs boards.

Not sure where I've gone wrong...


I had the convention wrong, X is forward, and not Y...still looking into why my model view is not tracking my AHRS...

[Bani Greyling]

b.t.w...here is the file (this is the n-th time I forgot to click 'Attach this file' after I've selected the file to attach )

 Accel.png   50.77K   22 downloads

[peabody124]

Ok few thoughs:

1) plots look fine so accels not issue
2) are you in indoor mode?
3) have you got right gyro gain? -0.014,0.014,-0.014
4) does it move the wrong way then slowly correct?
5) check the values in attitudeActual. Raising arrow up should create positive pitch

[Bani Greyling]

By gyro gain, I take it you meen AHRSCalibration.gyro_scale: No, I had some weird values in there which caused by INSGPS algo to spin around, so I only tried SIMPLE algorithm. Set them to 0, and now it bank, pitch and roll better.

So at least now I have INSGPS sort of working. It does, however, not react as quick as yours...it takes about 12 seconds to settle if I for example bank.

Using insgps, I also get yaw to oscillate 25 deg every 12 sec if I pitch it 25 deg up, or bank 25 deg left.

Using simple, I get it to yaw 25 deg anti clockwise when I pitch it 25 deg up.

Using simple, I get it to yaw 25 deg clockwise when I bank it 25 deg left.

[peabody124]

So if you have gyro gain 0 it will be slow because the gyros are saying it didn't rotate. In indoor mode I expect to see yaw rotation right now: no mag correction. In simple mode yaw and pitch/roll interact. I know why but that is just crude debugging.