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AutoQuad Forum • View topic - Calc using diff. dynamic file (better?)

Calc using diff. dynamic file (better?)

Static, Dynamic, Log File Analysis, Troubleshooting

Calc using diff. dynamic file (better?)

Postby qalid » Fri Sep 06, 2013 4:09 pm

Ok, just not to mix up between things here.. This is a new topic for the 2nd calc test I did today with another dynamic file, which is attached here:
Surprisingly, the first dynamic file that I used looked much better! But results here are much much smoother!

Behavior - Analyzis:
-Step 3, I ran up to 4-5 times, quick response in further MAE drop
-Unlike the other calc, there was no failure message in step 5
-Overall, drop was at constant rate, much faster results than the other dynamic file that I used
-Do I need to be worried about MAE>0.2 at step 4?
-I repeated Step 3 before proceeding to step 6, got further drop
-Do I need to do extra loops at 5, 4 or 6?
-Step 6: started dropping at first and then it stopped dropping completely and went with same value for more than 1500-2000 loops I guess.

---Parameters---
// Fri Sept 6 - 2013, FCP Hex X, Using 3 static files and Dynamic 002

// Step 1

MAE 0 = 0.000126
#define IMU_GYO_BIAS_X -1.337342724e+000
#define IMU_GYO_BIAS_Y -1.347602011e+000
#define IMU_GYO_BIAS_Z -1.188715981e+000
#define IMU_GYO_BIAS1_X -1.400450400e-004
#define IMU_GYO_BIAS1_Y +1.645676101e-004
#define IMU_GYO_BIAS1_Z +2.155331129e-004
#define IMU_GYO_BIAS2_X -1.398788852e-006
#define IMU_GYO_BIAS2_Y +1.271833822e-005
#define IMU_GYO_BIAS2_Z -4.566097415e-007
#define IMU_GYO_BIAS3_X -5.695320746e-009
#define IMU_GYO_BIAS3_Y +6.528343097e-008
#define IMU_GYO_BIAS3_Z -2.068544894e-008

// Step 2

#define IMU_ACC_BIAS_X -1.642504732e+000
#define IMU_ACC_BIAS_Y -1.641188555e+000
#define IMU_ACC_BIAS_Z -1.617510093e+000
#define IMU_ACC_BIAS1_X +5.763806497e-005
#define IMU_ACC_BIAS1_Y -6.908180458e-005
#define IMU_ACC_BIAS1_Z +8.742406459e-005
#define IMU_ACC_BIAS2_X +5.173452668e-007
#define IMU_ACC_BIAS2_Y -5.336017577e-007
#define IMU_ACC_BIAS2_Z +6.967416700e-006
#define IMU_ACC_BIAS3_X +3.359478008e-008
#define IMU_ACC_BIAS3_Y -5.954961022e-008
#define IMU_ACC_BIAS3_Z +2.361821198e-007
#define IMU_ACC_SCAL_X +1.955939810e-002
#define IMU_ACC_SCAL_Y +1.967585315e-002
#define IMU_ACC_SCAL_Z +1.931241758e-002
#define IMU_ACC_SCAL1_X +2.685668585e-006
#define IMU_ACC_SCAL1_Y +4.892328350e-007
#define IMU_ACC_SCAL1_Z -1.744785090e-005
#define IMU_ACC_SCAL2_X -1.201960781e-007
#define IMU_ACC_SCAL2_Y -1.115200093e-007
#define IMU_ACC_SCAL2_Z +2.896848535e-007
#define IMU_ACC_SCAL3_X -4.744041622e-009
#define IMU_ACC_SCAL3_Y -2.799585592e-010
#define IMU_ACC_SCAL3_Z +2.120194016e-008
#define IMU_ACC_ALGN_XY +5.344327433e-003
#define IMU_ACC_ALGN_XZ +3.045952276e-004
#define IMU_ACC_ALGN_YX +8.494180059e-003
#define IMU_ACC_ALGN_YZ +1.286919060e-003
#define IMU_ACC_ALGN_ZX +1.311282833e-003
#define IMU_ACC_ALGN_ZY -4.528695922e-003

#define IMU_MAG_INCL -66.33

// Step 3
// MAE: 0.00601224, AVG: 1.99674, lowMAE = 0.006011, n[0] = 0.000033
#define IMU_MAG_BIAS_X +1.994219177e-002
#define IMU_MAG_BIAS_Y -4.634590477e-002
#define IMU_MAG_BIAS_Z -1.740302175e-002
#define IMU_MAG_BIAS1_X -1.024216994e-004
#define IMU_MAG_BIAS1_Y +1.794726412e-004
#define IMU_MAG_BIAS1_Z +2.631886489e-005
#define IMU_MAG_BIAS2_X +1.428848379e-006
#define IMU_MAG_BIAS2_Y +1.282899705e-007
#define IMU_MAG_BIAS2_Z -5.829982537e-007
#define IMU_MAG_BIAS3_X +3.452546443e-008
#define IMU_MAG_BIAS3_Y +1.951874731e-009
#define IMU_MAG_BIAS3_Z -9.277152363e-009
#define IMU_MAG_SCAL_X +1.996426266e-001
#define IMU_MAG_SCAL_Y +2.008157560e-001
#define IMU_MAG_SCAL_Z +1.913307513e-001
#define IMU_MAG_SCAL1_X -6.970187202e-004
#define IMU_MAG_SCAL1_Y -6.168640199e-004
#define IMU_MAG_SCAL1_Z -6.362942023e-004
#define IMU_MAG_SCAL2_X +1.383569509e-006
#define IMU_MAG_SCAL2_Y -1.086895175e-006
#define IMU_MAG_SCAL2_Z +8.211861392e-007
#define IMU_MAG_SCAL3_X -3.475285213e-008
#define IMU_MAG_SCAL3_Y -1.561785599e-007
#define IMU_MAG_SCAL3_Z +9.064086393e-010
#define IMU_MAG_ALGN_XY -3.111295894e-002
#define IMU_MAG_ALGN_XZ +2.153311393e-003
#define IMU_MAG_ALGN_YX -1.222990577e-002
#define IMU_MAG_ALGN_YZ +1.506298182e-003
#define IMU_MAG_ALGN_ZX -6.418806907e-002
#define IMU_MAG_ALGN_ZY +1.584683172e-002
#define IMU_MAG_INCL -6.633000183e+001


// Step 4a

// 0.150056 0.040897 0.067332 0.000000 0.000000 = 0.258285
// Loops: 100

#define IMU_GYO_SCAL_X +0.114809431481 // 0.000001382750 +0.000000062229
#define IMU_GYO_SCAL_Y +0.114875514181 // 0.000001711491 +0.000000037953
#define IMU_GYO_SCAL_Z +0.115249622257 // 0.000004217181 +0.000000055020
#define IMU_GYO_ALGN_XY -0.032506347852 // 20.382042632135 -0.000001024573
#define IMU_GYO_ALGN_XZ +0.012955948069 // 0.789635063071 +0.000003472325
#define IMU_GYO_ALGN_YX +0.014739983053 // 0.060314470178 +0.000015014384
#define IMU_GYO_ALGN_YZ -0.002069468668 // 1.631014332101 -0.000002319737
#define IMU_GYO_ALGN_ZX -0.024556323137 // 16.160614156915 -0.000001068665
#define IMU_GYO_ALGN_ZY +0.007106197015 // 1.770142749973 +0.000000020020

// Step 4b

// 0.065042 0.024461 0.066465 0.000000 0.000000 = 0.155968
// Loops: 109

#define IMU_ACC_BIAS_X -1.642009300165 // 0.000000000981 -0.000000309494
#define IMU_ACC_BIAS_Y -1.640530400106 // 0.000000000966 -0.000000038043
#define IMU_ACC_BIAS_Z -1.617578056159 // 0.000000000984 -0.000000132131
#define IMU_ACC_SCAL_X +0.019555734686 // 0.000000001000 -0.000000024210
#define IMU_ACC_SCAL_Y +0.019674824023 // 0.000000001000 -0.000000018062
#define IMU_ACC_SCAL_Z +0.019299169100 // 0.000000001000 -0.000000080062
#define IMU_ACC_ALGN_XY +0.005857913608 // 0.000099932754 -0.000000238621
#define IMU_ACC_ALGN_XZ +0.000309262942 // 0.000099999727 +0.000000040809
#define IMU_ACC_ALGN_YX +0.013608814068 // 0.000099794667 +0.000028711300
#define IMU_ACC_ALGN_YZ +0.001283434506 // 0.000099999604 -0.000000046307
#define IMU_ACC_ALGN_ZX +0.001266997800 // 0.000099998680 -0.000000401107
#define IMU_ACC_ALGN_ZY -0.004061862939 // 0.000099994408 +0.000004053783

// Step 5

// 0.064573 0.024301 0.066439 0.000000 0.000000 = 0.155313,
// Loops: 55

#define IMU_GYO_SCAL_X +0.115665885638 // 0.000000998695 +0.000000070965
#define IMU_GYO_SCAL_Y +0.115823328464 // 0.000000999084 -0.000000045238
#define IMU_GYO_SCAL_Z +0.116156588718 // 0.000000997780 +0.000000188006
#define IMU_GYO_ALGN_XY -0.021119946300 // 0.000996162715 -0.000002320793
#define IMU_GYO_ALGN_XZ +0.012634425180 // 0.000999869292 -0.000000302278
#define IMU_GYO_ALGN_YX +0.015575337390 // 0.000999743497 +0.000010893201
#define IMU_GYO_ALGN_YZ -0.001656499541 // 0.000999898396 +0.000007361826
#define IMU_GYO_ALGN_ZX -0.017536956232 // 0.000998345774 +0.000000177708
#define IMU_GYO_ALGN_ZY +0.005211719054 // 0.000999815112 -0.000017810058
#define IMU_ACC_BIAS_X -1.642020296414 // 0.000000000991 -0.000000228774
#define IMU_ACC_BIAS_Y -1.640533752293 // 0.000000000987 -0.000000068816
#define IMU_ACC_BIAS_Z -1.617587017565 // 0.000000000992 -0.000000101584
#define IMU_ACC_SCAL_X +0.019555412774 // 0.000000001000 -0.000000005041
#define IMU_ACC_SCAL_Y +0.019673942436 // 0.000000001000 -0.000000015500
#define IMU_ACC_SCAL_Z +0.019295872239 // 0.000000001000 -0.000000049310
#define IMU_ACC_ALGN_XY +0.006172428996 // 0.000099993656 +0.000003472697
#define IMU_ACC_ALGN_XZ +0.000310973517 // 0.000099999924 +0.000000029298
#define IMU_ACC_ALGN_YX +0.015413757843 // 0.000099964965 +0.000017247690
#define IMU_ACC_ALGN_YZ +0.001281472791 // 0.000099999834 -0.000000019805
#define IMU_ACC_ALGN_ZX +0.001264984539 // 0.000099999956 -0.000000018415
#define IMU_ACC_ALGN_ZY -0.003859885505 // 0.000099997394 +0.000003229008

// Step 6

// 0.064565 0.000000 0.066432 0.001042 0.006058 = 0.138097,
// Loops: 6894

#define IMU_MAG_BIAS_X +0.019134637476 // 0.000000994749 -0.000000033538
#define IMU_MAG_BIAS_Y -0.046458278651 // 0.000000996676 +0.000000004063
#define IMU_MAG_BIAS_Z -0.016808842310 // 0.000000996192 +0.000000025148
#define IMU_MAG_SCAL_X +0.199842519881 // 0.000000550292 +0.000000000911
#define IMU_MAG_SCAL_Y +0.200432708513 // 0.000000384240 -0.000000000624
#define IMU_MAG_SCAL_Z +0.191283905534 // 0.000000963738 -0.000000000603
#define IMU_MAG_ALGN_XY -0.031882098655 // 0.000083539060 -0.000000064798
#define IMU_MAG_ALGN_XZ +0.002555918156 // 0.000099931987 +0.000000056230
#define IMU_MAG_ALGN_YX -0.016568426238 // 0.000096584747 -0.000000039722
#define IMU_MAG_ALGN_YZ +0.001582492366 // 0.000099973157 +0.000000010902
#define IMU_MAG_ALGN_ZX -0.068949162106 // 0.000099208800 +0.000000006768
#define IMU_MAG_ALGN_ZY +0.020293977210 // 0.000096201444 -0.000000049789
#define IMU_MAG_INCL -66.068100928489 // 0.000000095789 -0.000000445943
Attachments
D002.jpg
qalid
 
Posts: 129
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Re: Calc using diff. dynamic file (better?)

Postby qalid » Fri Sep 06, 2013 6:33 pm

Ok so I've decided to upload this profile and see how it goes

Here are the 3 plots for the calibrated AQ, pls notice that for MAG (I was very colse in fact right next to my laptop, phone, chargers and lots of electrical/electronic stuff)

Any comments pls?
Attachments
mag_check.jpg
acc_check.jpg
gyro_check.jpg
qalid
 
Posts: 129
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Re: Calc using diff. dynamic file (better?)

Postby chschmid » Fri Sep 06, 2013 7:27 pm

Are These flight logs? What movements did you perform?
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Posts: 1800
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Re: Calc using diff. dynamic file (better?)

Postby qalid » Sat Sep 07, 2013 7:52 am

Nope, I left the board leveled, then upside down, then I tried 360 on two axis (not very accurate as bat attached) then back to level.
qalid
 
Posts: 129
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Re: Calc using diff. dynamic file (better?)

Postby chschmid » Sat Sep 07, 2013 8:10 am

chschmid
 
Posts: 1800
Joined: Wed Jul 11, 2012 7:41 pm
Location: Herrliberg, Switzerland

Re: Calc using diff. dynamic file (better?)

Postby qalid » Sat Sep 07, 2013 8:16 am

Yes, actually how can you do 360 on 3 axis with lipo attached, or in other hand?

I couldn't and got confused.. It was not firm or smooth movement at all..

But during leveled position (both directions) it was un touched for 30 sec both ways.

My question is, this is confusing, looking at these calc results and calc behavior, is this a good stable profile?

Thanks
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