Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Static, Dynamic, Log File Analysis, Troubleshooting

Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Jessestr » Tue Nov 27, 2012 9:54 pm

Hello

I am doing test calibrations on my computer and I want to check the MAE of step 4a.. In the wiki it's about 0.11481 on only 2 loops (MAE).

Mine is 275 loops in about 10 minutes and it is at 0.256275.. Every step a drop of 3 +- Sometimes bigger drops.
Now I'm typing another line and I'm at 325 loops and MAE : 0.256174 so it's going down well.. But it won't reach the same as in the wiki ...

Is this normal?

Jesse
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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Max » Tue Nov 27, 2012 10:35 pm

Yea, the MAE is always relative, so specific examples don't apply. As long as it's dropping steadily and not doing funky things like jumping around a lot, you should be fine. My first board/calibration had lower MAEs than my 2nd by about a factor of 0.1 (but 2nd flies fine too :) ).

-Max
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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Jessestr » Tue Nov 27, 2012 11:37 pm

Thanks. At 2430 now and MAE: 0.251821 and still every step is now going down by 2 and not anymore 3.

So, don't know if I have to wait until it's really done. Since the wiki says about 500-2000 samples.
Think my dance was quite well so don't have any bad data.. Could you check my other topic from the dynamic calibs logs?

Thanks
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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Max » Wed Nov 28, 2012 12:38 am

Ideally I like to wait until the MAE is not dropping at all in "x" runs (X depending on the step, but definitely 10+ for most sim steps except the last one). But, if you're anxious to try it out, you could always stop any sim3 step early, complete the rest of the steps, and upload/check the params. Then go back later and see if you can improve the result.

But if you're still seeing it dropping by 2e-6 on each loop, I'd give it some more time ;)

Also, just as a reminder of something to watch out for.... (from the docs)
Another thing to watch are the numbers being generated (the 1st column of numbers in the output). Small changes on each run are expected, but if you start seeing big swings, for example from -0.00005 to +0.00005 in one loop, this may indicate a problem. Keep an eye on these swings and if they get worse, abort the run and try again.


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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Jessestr » Wed Nov 28, 2012 1:15 am

Thanks.

4538 loops - MAE: 0.248672

Dropping with 0.000001 and about every 10 steps it drops with 0.000002
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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Jessestr » Wed Nov 28, 2012 1:56 am

Seriously.. Just aborted. Saved params to file and then started again.

Went from 0.247826 to 0.175984 and dropping with 0.000004 now.. So think it's good for a while again.

Went to step 4b sim3 - acc and the last three numbers are swinging with like 0.000300 / loop up and down..
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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Jessestr » Wed Nov 28, 2012 9:44 am

I need some help... Shall I redo my calibso? The swing stops after a while and then it goes steadily down.

MAE is now: 0.173406 but the ACC does weird sometimes.
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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby JussiH » Thu Nov 29, 2012 10:44 am

When you see those swings in the MAE on the sim3 runs, it usually indicates poor quality of the dynamic logs, or noise in the beginning and end of your file(s)

But you possibly dont need to start over with the dance, in some cases it is enough to cut away noise in the beginning/end and then lower variance setting and run again.

From the sim3 docu:

You may also need to change the variance parameter (to the left of the calculations window, above the ‘Start sim‘ and ‘abort‘ buttons. Default variance for Sim3 is 1e-6 (0.000001) so try 1e-7 or lower. Check the ‘use variance‘ box and enter a number in the field below, then hit ‘Start sim.’


This can be used to converge the numbers, for instance you can run 10-30 loops at 1e-7, save results and then continue at default variance (1e-6)
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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Jessestr » Thu Nov 29, 2012 11:47 am

Thanks. the swings stop after some time. Will have to do the dance again anyways when adding my Video Downlink & Camera gear. Calculations were done in about 7 hours.
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Re: Dynamic Calibration - Step 4A Sim3 Gyro MAE ~

Postby Dju » Wed Jul 09, 2014 11:27 am

Hi everyone,
my MAE in step 4a and 4b begins at 4.2, it's strange no ?
the result seems to be good during few loops, and after that they act in really weird way:

0.741440 0.273468 2.771778 0.000000 0.000000 = 3.786686
Loops: 682

#define IMU_GYO_SCAL_X -5900.544612325033 // 8944.950111444725 +106.881028922500
#define IMU_GYO_SCAL_Y -6050.408275024172 // 58972.284551643650 -703.289438709729
#define IMU_GYO_SCAL_Z -88784.184049529023 // 9315722119.735080700000 -597394.759127230500
#define IMU_GYO_ALGN_XY +862263.787741126960 // 634843878.428503160000 -113894.974727822820
#define IMU_GYO_ALGN_XZ +4001.867336844128 // 51085.411866201895 -62.084803471233
#define IMU_GYO_ALGN_YX +367852.266788441160 // 1446245671.579250800000 +152451.169690260020
#define IMU_GYO_ALGN_YZ +17187492582100.691000000000 // 114599560903686510000000.000000000000 +707146458765.958980000000
#define IMU_GYO_ALGN_ZX -0.018716088987 // 0.000001802061 +0.000000000606
#define IMU_GYO_ALGN_ZY +0.173243641574 // 0.000779520372 +0.000000039461
DJI F450
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