Step 4a jumping up and down every loop

[SuperSharpShooter]

The MAE It's jumping up and down between 0.112 and 0.120.

I've tried running the calculations from scratch with different sets of dynamic and static logs a couple of times and have noticed this behavior repeatedly. Is it something to worry about, or should I just stop it when it's displaying the ~0.112 MAE and use those values?

0.049439 0.014739 0.048773 0.000000 0.000000 = 0.112952
Loops: 293

#define IMU_GYO_SCAL_X +0.116237144399 // 0.000001571699 +0.000000783018
#define IMU_GYO_SCAL_Y +0.115794556465 // 0.000001359958 +0.000000504528
#define IMU_GYO_SCAL_Z +0.116177108330 // 0.000001098235 +0.000001368467
#define IMU_GYO_ALGN_XY -0.005478486848 // 0.010271353056 -0.000016157371
#define IMU_GYO_ALGN_XZ -0.001638863913 // 0.008036470415 +0.000141072090
#define IMU_GYO_ALGN_YX +0.001547042611 // 0.006552757637 -0.000069509305
#define IMU_GYO_ALGN_YZ -0.210641292919 // 0.037897355120 -0.312776376645
#define IMU_GYO_ALGN_ZX -0.003073367089 // 0.007051224037 -0.000099238855
#define IMU_GYO_ALGN_ZY +0.002904621383 // 0.008576399762 +0.001436691713


0.055225 0.016413 0.048773 0.000000 0.000000 = 0.120412
Loops: 296

#define IMU_GYO_SCAL_X +0.116237895968 // 0.000001571684 -0.000000015033
#define IMU_GYO_SCAL_Y +0.115795918024 // 0.000001359956 +0.000000429372
#define IMU_GYO_SCAL_Z +0.116181429562 // 0.000001098235 +0.000001477487
#define IMU_GYO_ALGN_XY -0.005462515462 // 0.010269537771 +0.000016070941
#define IMU_GYO_ALGN_XZ -0.001780819678 // 0.008033615434 -0.000141412076
#define IMU_GYO_ALGN_YX +0.001615494353 // 0.006551818496 +0.000068979464
#define IMU_GYO_ALGN_YZ +0.102147449874 // 0.022667780265 +0.312799643574
#define IMU_GYO_ALGN_ZX -0.002974029784 // 0.007051131557 +0.000099273379
#define IMU_GYO_ALGN_ZY +0.001470915071 // 0.008572538812 -0.001434757918

[SuperSharpShooter]

The numbers don't seem to be converging either. They're both climbing very slowly.

[13brv3]

In the wiki documentation for step 4, there's a section that gives you suggestions for problems like this. They tell you to try lowering the variance setting, and I had to do that on one of my cals. As it suggested, after running a few hundred loops, I was able to go back to the standard variance and it continued working.

Rusty

[Ruffio]

[SuperSharpShooter]

Yeah I ended up pushing through with the calculations. I think my final MAE was around 0.09. The performance looks pretty good now. There's a small amount of lateral rocking sometimes when stopping after moving to a new position while in PH, but it quickly settles and stays put. Alt holds pretty well now too. A couple of times I have heard a sound like a motor is stuttering, but I can't seem to reproduce it, and can't see anything in the logs that would explain it.