Dynamic calibration -voltage (bias) to high

Info and discussion about the original AQ v6 flight controller

Dynamic calibration -voltage (bias) to high

Postby DeBaba » Mon Sep 15, 2014 6:36 pm

Hi,
I get everytime trobble with the dynamic calibration of my autoquadboard (without DIMU).
After fifteen dances at 4 different places, far away from civilization... the calibration failed always at the magnetic calculation in step_3.
Either the software stops and shows "nan" or MAE and AVG values are to high.
Sometimes, when MAE at 0,01 and AVG about 2,0, i notice a fail at the end of the calibration in the Step_6.

I think the voltage (bias) values ​​are to high.
Here is an extract (complete step_3 attached):

Mag 1st order Params:
BIAS SCALE
-12275299.154356213 -60318297.446787290
+16158368.222466419 -65526360.696625635
+8357567.751688637 -45700058.190800399

.....

MAE: 6.34783
AVG: 9.25347
lowMAE = 1.006556, n[0] = 0.000182
#define DEFAULT_IMU_MAG_BIAS_X +2.463307524e+008<------
#define DEFAULT_IMU_MAG_BIAS_Y -3.095398143e+009
#define DEFAULT_IMU_MAG_BIAS_Z +2.061640205e+009
#define DEFAULT_IMU_MAG_BIAS1_X -1.227529915e+007
#define DEFAULT_IMU_MAG_BIAS1_Y +1.615836822e+007
#define DEFAULT_IMU_MAG_BIAS1_Z +8.357567752e+006<------

Step 3.txt
STEP_3
(5.8 KiB) Downloaded 154 times



The values ​​are to high, right? Why is that? Can somebody help me?

Step_6 looks like this:
#define DEFAULT_IMU_MAG_BIAS_X +246330752.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_MAG_BIAS_Y -3095398144.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_MAG_BIAS_Z +2061640192.000000000000 // 0.000001000000 +0.000000000000


Here Voltage_4 (corresponds MAGY) from the last dynamic calibration file... looks it ok?  
Voltage_4.JPG
Voltage_4

Maybe someone has an idea why this might be ...?



If it help, here some more data:

magnetic sensor
mag.JPG
Mag


Here the oscillations from the beginning, should i be worried about it?
I worn no metallic and no electronics objects.
The distance to my phone (to connect Bluetooth) and the remote control were 3-4 meters.

magnetic sensor_ details
mag_detail.JPG
mag_detail


And here are the data for each x, y, z-axis (voltage, mag, acc) and Acc completely ...
x-axis
x-Achse.JPG
x-axis

y-axis
y-Achse.JPG
y-axis

z-axis
z-Achse.JPG
z-axis

acc
Acc.JPG
Acc


Technical Informations
Board: Autoquad 6 (AIMU FW 6.7) + GPS + shield
Frame: FCP HL - XL von Flyduino
ESC: Turnigy Multistar 30 Amp
Motor: Turnigy D2836/11 750KV
Lipo: 3s 2700 mAh


Thanks for your help.
DeBaba
 
Posts: 1
Joined: Mon Aug 25, 2014 3:47 pm

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