Calc Questions - Static files

[qalid]

Hi everyone,

I saw Tera Max in his video clipping all data! Then deleting it, can someone pls explain why?!

Also, do I really need to use 3 static files? I got some good/reasonable results with 1 only
in step 3, it wasn't going to end to a solution, just running for ever! but with 1 file I got MAE 0.008 and even lower

Now I do have complete para file but using 1 static file (the lowest MAE value I got among three)

Can someone pls review the calc results? I can upload the file/results or whatever you ask for

Thanks
K

[qalid]

// Step 1

MAE 0 = 0.000115
#define IMU_GYO_BIAS_X -1.347191905e+000
#define IMU_GYO_BIAS_Y -1.359304932e+000
#define IMU_GYO_BIAS_Z -1.326050366e+000
#define IMU_GYO_BIAS1_X -8.914942830e-005
#define IMU_GYO_BIAS1_Y +7.868088665e-005
#define IMU_GYO_BIAS1_Z +1.683868961e-004
#define IMU_GYO_BIAS2_X -4.541947823e-007
#define IMU_GYO_BIAS2_Y +9.340101944e-006
#define IMU_GYO_BIAS2_Z -2.594714306e-007
#define IMU_GYO_BIAS3_X -1.966161988e-009
#define IMU_GYO_BIAS3_Y +4.275082559e-008
#define IMU_GYO_BIAS3_Z -1.425202580e-008

// Step 2

#define IMU_ACC_BIAS_X -1.641785577e+000
#define IMU_ACC_BIAS_Y -1.641942172e+000
#define IMU_ACC_BIAS_Z -1.617768996e+000
#define IMU_ACC_BIAS1_X +1.643864427e-005
#define IMU_ACC_BIAS1_Y +1.261172102e-005
#define IMU_ACC_BIAS1_Z +3.597364468e-005
#define IMU_ACC_BIAS2_X +2.074411326e-006
#define IMU_ACC_BIAS2_Y -7.456594122e-007
#define IMU_ACC_BIAS2_Z +2.628829120e-006
#define IMU_ACC_BIAS3_X +1.732878196e-007
#define IMU_ACC_BIAS3_Y -1.277529721e-007
#define IMU_ACC_BIAS3_Z +7.214404894e-007
#define IMU_ACC_SCAL_X +1.948521673e-002
#define IMU_ACC_SCAL_Y +1.946684785e-002
#define IMU_ACC_SCAL_Z +1.877295772e-002
#define IMU_ACC_SCAL1_X +8.325066430e-006
#define IMU_ACC_SCAL1_Y +2.460239639e-005
#define IMU_ACC_SCAL1_Z +8.046811964e-005
#define IMU_ACC_SCAL2_X -2.154544068e-007
#define IMU_ACC_SCAL2_Y -2.366651349e-007
#define IMU_ACC_SCAL2_Z +1.604184615e-006
#define IMU_ACC_SCAL3_X -2.284262281e-008
#define IMU_ACC_SCAL3_Y -1.989628647e-008
#define IMU_ACC_SCAL3_Z -4.362044807e-007
#define IMU_ACC_ALGN_XY +6.416845251e-003
#define IMU_ACC_ALGN_XZ +2.018818177e-003
#define IMU_ACC_ALGN_YX +6.153244403e-003
#define IMU_ACC_ALGN_YZ +6.906462168e-005
#define IMU_ACC_ALGN_ZX +2.196675647e-003
#define IMU_ACC_ALGN_ZY +5.694486572e-004


#define IMU_MAG_INCL -66.33

// Step 3

// MAE: 0.00911749, AVG: 1.99706, lowMAE = 0.009117, n[0] = 0.000033
#define IMU_MAG_BIAS_X +1.876844594e-002
#define IMU_MAG_BIAS_Y -4.830653504e-002
#define IMU_MAG_BIAS_Z -1.586299863e-002
#define IMU_MAG_BIAS1_X +1.855668482e-004
#define IMU_MAG_BIAS1_Y +2.900866883e-004
#define IMU_MAG_BIAS1_Z -2.165268148e-004
#define IMU_MAG_BIAS2_X -2.895260829e-007
#define IMU_MAG_BIAS2_Y -1.198715232e-006
#define IMU_MAG_BIAS2_Z +4.902890261e-006
#define IMU_MAG_BIAS3_X -5.061071544e-007
#define IMU_MAG_BIAS3_Y -8.460526658e-007
#define IMU_MAG_BIAS3_Z +9.240391412e-007
#define IMU_MAG_SCAL_X +1.947180741e-001
#define IMU_MAG_SCAL_Y +2.002645258e-001
#define IMU_MAG_SCAL_Z +1.897432645e-001
#define IMU_MAG_SCAL1_X -1.630150700e-004
#define IMU_MAG_SCAL1_Y -4.766351385e-004
#define IMU_MAG_SCAL1_Z -3.368088865e-004
#define IMU_MAG_SCAL2_X -3.188375343e-006
#define IMU_MAG_SCAL2_Y -2.287871512e-006
#define IMU_MAG_SCAL2_Z -5.455048464e-006
#define IMU_MAG_SCAL3_X -9.901536537e-007
#define IMU_MAG_SCAL3_Y -9.933992761e-007
#define IMU_MAG_SCAL3_Z -9.765283174e-007
#define IMU_MAG_ALGN_XY -2.504860795e-002
#define IMU_MAG_ALGN_XZ +6.969812066e-004
#define IMU_MAG_ALGN_YX -1.379496474e-002
#define IMU_MAG_ALGN_YZ -3.216542744e-003
#define IMU_MAG_ALGN_ZX -5.798888820e-002
#define IMU_MAG_ALGN_ZY +1.826851433e-002
#define IMU_MAG_INCL -6.633000183e+001

// Step 4a
// 0.088571 0.025985 0.061053 0.000000 0.000000 = 0.175610
//Loops: 36

#define IMU_GYO_SCAL_X +0.114835818836 // 0.000000103115 -0.000000529535
#define IMU_GYO_SCAL_Y +0.115012687492 // 0.000000104650 +0.000000510127
#define IMU_GYO_SCAL_Z +0.114860960199 // 0.000000102510 -0.000000018762
#define IMU_GYO_ALGN_XY +0.119022004542 // 0.035444037390 +0.301933122422
#define IMU_GYO_ALGN_XZ +0.011026981212 // 0.000324164002 +0.000050822981
#define IMU_GYO_ALGN_YX +0.011096192258 // 0.000528987087 -0.000230764004
#define IMU_GYO_ALGN_YZ -0.006776350177 // 0.001562331859 -0.000033060169
#define IMU_GYO_ALGN_ZX -0.011360690894 // 0.001173844665 +0.000036749647
#define IMU_GYO_ALGN_ZY +0.008228835648 // 0.000506159979 -0.000023656765

// Step 4b

//0.077652 0.023905 0.060917 0.000000 0.000000 = 0.162474
// Loops: 225

#define IMU_ACC_BIAS_X -1.641663303590 // 0.000000000098 -0.000000142140
#define IMU_ACC_BIAS_Y -1.642045892729 // 0.000000000099 +0.000000161614
#define IMU_ACC_BIAS_Z -1.617881852122 // 0.000000000100 -0.000000181955
#define IMU_ACC_SCAL_X +0.019473066742 // 0.000000000100 -0.000000047451
#define IMU_ACC_SCAL_Y +0.019456562155 // 0.000000000100 -0.000000041086
#define IMU_ACC_SCAL_Z +0.018758190815 // 0.000000000100 -0.000000059608
#define IMU_ACC_ALGN_XY +0.009715665044 // 0.000009925737 +0.000014107339
#define IMU_ACC_ALGN_XZ +0.001982929748 // 0.000009999910 -0.000000151717
#define IMU_ACC_ALGN_YX +0.005420054873 // 0.000009989314 -0.000003333771
#define IMU_ACC_ALGN_YZ +0.000069079216 // 0.000010000000 +0.000000000077
#define IMU_ACC_ALGN_ZX +0.002182903885 // 0.000009999979 -0.000000053946
#define IMU_ACC_ALGN_ZY +0.000570504392 // 0.000009999999 +0.000000004922

// Step 5

// 0.064741 0.019665 0.060870 0.000000 0.000000 = 0.145276
// Loops: 29

#define IMU_GYO_SCAL_X +0.114860650147 // 0.000000101627 +0.000000020046
#define IMU_GYO_SCAL_Y +0.115090838595 // 0.000000116526 -0.000000000110
#define IMU_GYO_SCAL_Z +0.114880623330 // 0.000000101115 +0.000000002452
#define IMU_GYO_ALGN_XY -0.018245694297 // 1.150516445837 +0.000012892350
#define IMU_GYO_ALGN_XZ +0.011038942127 // 0.000100073637 -0.000000008717
#define IMU_GYO_ALGN_YX +0.011007573814 // 0.000102935814 -0.000000013661
#define IMU_GYO_ALGN_YZ -0.006777139781 // 0.000100000699 +0.000000004923
#define IMU_GYO_ALGN_ZX -0.011369771362 // 0.000100036177 +0.000000018224
#define IMU_GYO_ALGN_ZY +0.008223945385 // 0.000100012855 +0.000000002518
#define IMU_ACC_BIAS_X -1.641798727449 // 0.000000000101 -0.000001835311
#define IMU_ACC_BIAS_Y -1.641925453076 // 0.000000000100 +0.000002047088
#define IMU_ACC_BIAS_Z -1.617897313062 // 0.000000000100 -0.000000358342
#define IMU_ACC_SCAL_X +0.019473129016 // 0.000000000100 +0.000000003265
#define IMU_ACC_SCAL_Y +0.019456519685 // 0.000000000100 -0.000000001322
#define IMU_ACC_SCAL_Z +0.018757661158 // 0.000000000100 -0.000000017448
#define IMU_ACC_ALGN_XY +0.009825765200 // 0.000010218513 +0.000003155869
#define IMU_ACC_ALGN_XZ +0.001981993634 // 0.000010000066 -0.000000024664
#define IMU_ACC_ALGN_YX +0.005444480244 // 0.000010009855 +0.000000958071
#define IMU_ACC_ALGN_YZ +0.000069080189 // 0.000010000000 +0.000000000032
#define IMU_ACC_ALGN_ZX +0.002181828508 // 0.000010000000 -0.000000031036
#define IMU_ACC_ALGN_ZY +0.000570570443 // 0.000010000001 +0.000000002169

// Step 6

// 0.053491 0.000000 0.060869 0.001113 0.004231 = 0.119703
// Loops: 12824

#define IMU_MAG_BIAS_X +0.018537427366 // 0.000000099693 -0.000000016253
#define IMU_MAG_BIAS_Y -0.048188127384 // 0.000000099688 +0.000000000886
#define IMU_MAG_BIAS_Z -0.015800712059 // 0.000000099567 +0.000000003122
#define IMU_MAG_SCAL_X +0.194398345535 // 0.000000084581 +0.000000003868
#define IMU_MAG_SCAL_Y +0.200137223959 // 0.000000096897 +0.000000003038
#define IMU_MAG_SCAL_Z +0.189772279145 // 0.000000091015 +0.000000003750
#define IMU_MAG_ALGN_XY -0.027846624806 // 0.000009940468 -0.000000053114
#define IMU_MAG_ALGN_XZ +0.000701491329 // 0.000009999897 +0.000000000351
#define IMU_MAG_ALGN_YX -0.016616099125 // 0.000009892956 -0.000000119210
#define IMU_MAG_ALGN_YZ -0.003287565769 // 0.000009998324 -0.000000004115
#define IMU_MAG_ALGN_ZX -0.064782494157 // 0.000009692732 -0.000000000605
#define IMU_MAG_ALGN_ZY +0.021606588490 // 0.000009907886 +0.000000074966
#define IMU_MAG_INCL -66.310241489837 // 0.000000010000 +0.000000581337

[qalid]

I saw Tera Max in his video clipping all data! Then deleting it, can someone pls explain why?! Sorrrrry I know why lol!

[teramax]

[qalid]

Hey Teramax,

Thanks for explaining this.

It does, I will try again tomorrow with smooth ends (clipped) and 3 static files. I will post results here..

Thanks
K

[qalid]

Hi

I'm running the calcs now again with 3 static files

am in step 4a, the drop in MAE is very slow i.e - 0.000001 every loop!
0.137893 0.032549 0.104649 0.000000 0.000000 = 0.275090
Loops: 65

#define IMU_GYO_SCAL_X +0.115177608283 // 0.000003578740 +0.000000059540
#define IMU_GYO_SCAL_Y +0.114869648314 // 0.000001605083 +0.000000010577
#define IMU_GYO_SCAL_Z +0.115237970420 // 0.000004152996 +0.000000064744
#define IMU_GYO_ALGN_XY +0.052102159938 // 0.001159297686 +0.000002027481
#define IMU_GYO_ALGN_XZ -0.028333215146 // 0.897133228728 +0.000062433751
#define IMU_GYO_ALGN_YX -0.104664674230 // 48.645046394372 +0.000006083301
#define IMU_GYO_ALGN_YZ -0.072028511713 // 12.072304012318 +0.000002520741
#define IMU_GYO_ALGN_ZX +0.027278260184 // 0.019099317826 -0.000009557460
#define IMU_GYO_ALGN_ZY +0.054035795991 // 0.001500958957 +0.000001971203

Example in loop 66 it will become 0.275089

Now according to Wiki this is what I should be looking for, but my worry is the value of MAE, isn't it higher than what it should be?

Also, yesterday I used 1e-7 as variance value, but am I left it as default now.. Could that be the reason?
I've time, shall I leave it for couple of thousand loops and then try another dynamic file and compare results?

Here, while writing this message, I'm now at:
0.137784 0.032523 0.104649 0.000000 0.000000 = 0.274956
Loops: 151

#define IMU_GYO_SCAL_X +0.115182705166 // 0.000003578728 +0.000000059144
#define IMU_GYO_SCAL_Y +0.114870538238 // 0.000001605083 +0.000000010367
#define IMU_GYO_SCAL_Z +0.115243518495 // 0.000004152982 +0.000000064420
#define IMU_GYO_ALGN_XY +0.052276765850 // 0.001159217837 +0.000002030473
#define IMU_GYO_ALGN_XZ -0.026833172271 // 0.897074314336 +0.000003320558
#define IMU_GYO_ALGN_YX -0.104581885366 // 48.489531989464 -0.000000677069
#define IMU_GYO_ALGN_YZ -0.072051315261 // 12.066370190378 -0.000001090256
#define IMU_GYO_ALGN_ZX +0.026479480552 // 0.019097804696 -0.000008928940
#define IMU_GYO_ALGN_ZY +0.054203978125 // 0.001500888856 +0.000001949149

Thanks
K

[qalid]

The drop now is @ constant rate = - 0.000002

[qalid]

Still dropping
0.136954 0.032343 0.104649 0.000000 0.000000 = 0.273945
Loops: 817

And are these two matter of worry here:
#define IMU_GYO_ALGN_YX -0.105234451553 // 47.301009782283 -0.000000805015
#define IMU_GYO_ALGN_YZ -0.072766382434 // 12.014577098702 -0.000000893692

Dropping Rate is the same though.. 0.000001-0.000002

[qalid]

Ok so am at loop 3132! Still dropping by the same rate, I think I should move on..

[qalid]

Ok, update.. serious this time:

I went to step 4b, it was aborted many times by its own after 2 loops only!
// Step 4b

// 0.065318 0.019926 0.082566 0.000000 0.000000 = 0.167810
// Loops: 2

#define IMU_ACC_BIAS_X -1.643438366044 // 0.000000001698 -0.000097292027
#define IMU_ACC_BIAS_Y -1.645405498684 // 0.000000002207 +0.000128577320
#define IMU_ACC_BIAS_Z -1.612189405672 // 0.000000016786 +0.004253354844
#define IMU_ACC_SCAL_X +0.019366845575 // 0.000000001299 +0.000000479002
#define IMU_ACC_SCAL_Y +0.020234212583 // 0.000000001133 -0.000000507965
#define IMU_ACC_SCAL_Z +0.019694755093 // 0.000000001000 +0.000000034815
#define IMU_ACC_ALGN_XY +0.080250045622 // 0.000978760338 -0.004981338844
#define IMU_ACC_ALGN_XZ -0.023376709546 // 0.000105760394 -0.000095206022
#define IMU_ACC_ALGN_YX -0.384817286186 // 0.002107051527 -0.349374174057
#define IMU_ACC_ALGN_YZ -0.059803325737 // 0.000121859122 +0.000499924853
#define IMU_ACC_ALGN_ZX +0.035846064023 // 0.000133184611 -0.000765696952
#define IMU_ACC_ALGN_ZY +0.075833049253 // 0.000203347126 +0.002385909779

I tried to re-start sim 3--acc and every time it just aborts after 2 loops
Now at step 5, I got this:

0.078386 0.022496 0.098846 0.000000 0.000000 = 0.199728
Loops: 2

#define IMU_GYO_SCAL_X +0.115478358191 // 0.000000999162 +0.000002011644
#define IMU_GYO_SCAL_Y +0.114947837312 // 0.000000999918 +0.000000112346
#define IMU_GYO_SCAL_Z +0.115473828666 // 0.000000999929 +0.000000124884
#define IMU_GYO_ALGN_XY +0.066926245542 // 0.000980813501 +0.000046863657
#define IMU_GYO_ALGN_XZ -0.023923585822 // 0.000999740174 -0.000003488522
#define IMU_GYO_ALGN_YX -0.145852557684 // 0.000846961192 +0.000051560402
#define IMU_GYO_ALGN_YZ -0.078165086054 // 0.000995285865 +0.000051181227
#define IMU_GYO_ALGN_ZX +0.017908381566 // 0.000999939235 +0.000004187797
#define IMU_GYO_ALGN_ZY +0.061615037038 // 0.000998416728 +0.000064107702
#define IMU_ACC_BIAS_X -1.643395442435 // 0.000000001108 -0.000000348616
#define IMU_ACC_BIAS_Y -1.645363545873 // 0.000000001343 +0.000000989268
#define IMU_ACC_BIAS_Z -1.612432103055 // 0.000000007979 -0.000012317614
#define IMU_ACC_SCAL_X +0.019367474122 // 0.000000001331 +0.000000003708
#define IMU_ACC_SCAL_Y +0.020234033300 // 0.000000001014 -0.000000001203
#define IMU_ACC_SCAL_Z +0.019694796840 // 0.000000001012 +0.000000001287
#define IMU_ACC_ALGN_XY +0.084400263743 // 0.000771991152 -0.000024642686
#define IMU_ACC_ALGN_XZ -0.023505368955 // 0.000108439528 -0.000001071215
#define IMU_ACC_ALGN_YX +0.454313274593 // 0.055136023532 +0.519824980882
#define IMU_ACC_ALGN_YZ -0.060095983163 // 0.000108000054 +0.000072243248
#define IMU_ACC_ALGN_ZX +0.035550400716 // 0.000130616880 +0.000067759791
#define IMU_ACC_ALGN_ZY +0.074826303760 // 0.000130708214 +0.000198634090

0.274940 0.058294 0.308728 0.000000 0.000000 = 0.641962
DCHDD failed with norm = 3.066745

With lots of numbers and things underneath....
Any ideas?

Btw, am running another test on another super machine with a different dynamic log file, hope it goes better than this!