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AutoQuad Forum • View topic - odd /define IMU_MAG_INCL/ not the same - is this normal?

odd /define IMU_MAG_INCL/ not the same - is this normal?

Static, Dynamic, Log File Analysis, Troubleshooting

odd /define IMU_MAG_INCL/ not the same - is this normal?

Postby coptermax » Tue Oct 15, 2013 11:02 pm

Am ending Calculations step right now. Calculations going smooth but only end result look strange in part
/define IMU_MAG_INCL/
I uploaded param file on board and turn on HUD to see how compass doing the job and it have huge drift on compass scale - no clue if is normal?
Sometimes showing wrong pole direction to.

Thenks!

Here is my cal. result:

// Step1
MAE 0 = 0.000122

#define IMU_GYO_BIAS_X -1.350648845e+000
#define IMU_GYO_BIAS_Y -1.359711945e+000
#define IMU_GYO_BIAS_Z -1.292757563e+000
#define IMU_GYO_BIAS1_X -1.848721738e-004
#define IMU_GYO_BIAS1_Y -1.731295482e-004
#define IMU_GYO_BIAS1_Z +2.633480157e-004
#define IMU_GYO_BIAS2_X +2.159105285e-006
#define IMU_GYO_BIAS2_Y +1.207894670e-005
#define IMU_GYO_BIAS2_Z -4.259936614e-007
#define IMU_GYO_BIAS3_X +6.964437707e-008
#define IMU_GYO_BIAS3_Y +1.355280481e-007
#define IMU_GYO_BIAS3_Z +5.663749923e-009

// Step 2
// Static 2 acc stats:
// MAE: 0.0303769
// AVG: 9.8376


#define IMU_ACC_BIAS_X -1.638615802e+000
#define IMU_ACC_BIAS_Y -1.649369999e+000
#define IMU_ACC_BIAS_Z -1.611185699e+000
#define IMU_ACC_BIAS1_X +4.707800786e-005
#define IMU_ACC_BIAS1_Y -8.278371155e-005
#define IMU_ACC_BIAS1_Z +7.224414669e-005
#define IMU_ACC_BIAS2_X +4.274358535e-007
#define IMU_ACC_BIAS2_Y -1.910810975e-006
#define IMU_ACC_BIAS2_Z +5.501242738e-006
#define IMU_ACC_BIAS3_X +3.528615023e-008
#define IMU_ACC_BIAS3_Y -1.207324084e-007
#define IMU_ACC_BIAS3_Z +1.097617945e-007
#define IMU_ACC_SCAL_X +1.958694730e-002
#define IMU_ACC_SCAL_Y +2.007843926e-002
#define IMU_ACC_SCAL_Z +1.919096216e-002
#define IMU_ACC_SCAL1_X +2.687968089e-006
#define IMU_ACC_SCAL1_Y -5.907479603e-006
#define IMU_ACC_SCAL1_Z +3.064558016e-007
#define IMU_ACC_SCAL2_X -5.275851959e-008
#define IMU_ACC_SCAL2_Y +6.859948340e-008
#define IMU_ACC_SCAL2_Z +1.431448777e-007
#define IMU_ACC_SCAL3_X -3.530258031e-009
#define IMU_ACC_SCAL3_Y +8.271049981e-009
#define IMU_ACC_SCAL3_Z -9.969626028e-010
#define IMU_ACC_ALGN_XY +3.559362967e-003
#define IMU_ACC_ALGN_XZ -1.930661036e-003
#define IMU_ACC_ALGN_YX +5.519276590e-003
#define IMU_ACC_ALGN_YZ +1.162699713e-003
#define IMU_ACC_ALGN_ZX +4.753157052e-004
#define IMU_ACC_ALGN_ZY +1.309958358e-003


// IMU DECL 3.55

// Step 3

// MAE: 0.00789666
// AVG: 1.99695
// lowMAE = 0.007897, n[0] = 0.000033

#define IMU_MAG_BIAS_X +4.261350555e-002
#define IMU_MAG_BIAS_Y -4.509289691e-002
#define IMU_MAG_BIAS_Z -1.742984167e-002
#define IMU_MAG_BIAS1_X -1.498563330e-004
#define IMU_MAG_BIAS1_Y +1.768092323e-004
#define IMU_MAG_BIAS1_Z +5.024002246e-005
#define IMU_MAG_BIAS2_X -2.739552588e-007
#define IMU_MAG_BIAS2_Y -1.309447485e-007
#define IMU_MAG_BIAS2_Z -3.576350841e-007
#define IMU_MAG_BIAS3_X -3.192934672e-008
#define IMU_MAG_BIAS3_Y +7.233380498e-009
#define IMU_MAG_BIAS3_Z -1.041518725e-008
#define IMU_MAG_SCAL_X +1.877286629e-001
#define IMU_MAG_SCAL_Y +1.969949506e-001
#define IMU_MAG_SCAL_Z +1.904548974e-001
#define IMU_MAG_SCAL1_X -6.211786892e-004
#define IMU_MAG_SCAL1_Y -6.912445354e-004
#define IMU_MAG_SCAL1_Z -6.417389202e-004
#define IMU_MAG_SCAL2_X +1.045706120e-006
#define IMU_MAG_SCAL2_Y +8.593058170e-007
#define IMU_MAG_SCAL2_Z +7.343322345e-007
#define IMU_MAG_SCAL3_X -2.561732353e-009
#define IMU_MAG_SCAL3_Y -1.480635599e-009
#define IMU_MAG_SCAL3_Z -4.384847890e-010
#define IMU_MAG_ALGN_XY -3.525852488e-002
#define IMU_MAG_ALGN_XZ -2.016372182e-002
#define IMU_MAG_ALGN_YX -6.222746527e-004
#define IMU_MAG_ALGN_YZ -1.249151762e-002
#define IMU_MAG_ALGN_ZX -6.426040190e-002
#define IMU_MAG_ALGN_ZY +2.265103492e-002
#define IMU_MAG_INCL -6.320000076e+001

// Step 4a
//0.023307 0.006791 0.027636 0.000000 0.000000 = 0.057734
// Loops: 51

#define IMU_GYO_SCAL_X +0.116139150211 // 0.000000999809 +0.000000082929
#define IMU_GYO_SCAL_Y +0.116395765647 // 0.000000999997 +0.000000055153
#define IMU_GYO_SCAL_Z +0.115271880889 // 0.000000999798 +0.000000184628
#define IMU_GYO_ALGN_XY -0.024419636670 // 0.000999806555 -0.000001505256
#define IMU_GYO_ALGN_XZ -0.006102041535 // 0.000999999499 -0.000000600335
#define IMU_GYO_ALGN_YX +0.006376665227 // 0.000999969456 +0.000002333301
#define IMU_GYO_ALGN_YZ -0.021767202426 // 0.000999977953 -0.000000485255
#define IMU_GYO_ALGN_ZX -0.011507118554 // 0.000999968235 -0.000001182128
#define IMU_GYO_ALGN_ZY +0.009001357564 // 0.000999991951 -0.000000311620

// Step 4b
// 0.023295 0.006787 0.027611 0.000000 0.000000 = 0.057693
// Loops: 53

#define IMU_ACC_BIAS_X -1.637917957483 // 0.000000001000 +0.000000016581
#define IMU_ACC_BIAS_Y -1.649488258324 // 0.000000000999 -0.000000010240
#define IMU_ACC_BIAS_Z -1.611633423552 // 0.000000000999 +0.000000091310
#define IMU_ACC_SCAL_X +0.019596373785 // 0.000000001000 +0.000000011550
#define IMU_ACC_SCAL_Y +0.020064813492 // 0.000000001000 -0.000000030824
#define IMU_ACC_SCAL_Z +0.019219805016 // 0.000000001000 +0.000000021011
#define IMU_ACC_ALGN_XY +0.005197908239 // 0.000099971229 +0.000004497287
#define IMU_ACC_ALGN_XZ -0.002109101680 // 0.000099997955 -0.000000583357
#define IMU_ACC_ALGN_YX +0.009591429465 // 0.000099913270 +0.000013112089
#define IMU_ACC_ALGN_YZ +0.001176986131 // 0.000099999834 +0.000000063433
#define IMU_ACC_ALGN_ZX +0.000463083590 // 0.000099999878 -0.000000035006
#define IMU_ACC_ALGN_ZY +0.001349261001 // 0.000099999724 +0.000000158204

// Step 5
// 0.023292 0.006787 0.027588 0.000000 0.000000 = 0.057667
// Loops: 13

#define IMU_GYO_SCAL_X +0.116148037686 // 0.000000999951 +0.000000037278
#define IMU_GYO_SCAL_Y +0.116397369226 // 0.000001000000 +0.000000017807
#define IMU_GYO_SCAL_Z +0.115291550737 // 0.000000999940 +0.000000123457
#define IMU_GYO_ALGN_XY -0.024637859345 // 0.000999955910 -0.000001884572
#define IMU_GYO_ALGN_XZ -0.006135890343 // 0.000999999913 -0.000000532141
#define IMU_GYO_ALGN_YX +0.006682570990 // 0.000999986965 +0.000005428289
#define IMU_GYO_ALGN_YZ -0.021739335088 // 0.000999992492 -0.000000037965
#define IMU_GYO_ALGN_ZX -0.011567875696 // 0.000999992297 -0.000000737297
#define IMU_GYO_ALGN_ZY +0.008946423946 // 0.000999997869 -0.000000903120
#define IMU_ACC_BIAS_X -1.637917337505 // 0.000000001000 +0.000000008740
#define IMU_ACC_BIAS_Y -1.649489211487 // 0.000000001000 -0.000000007060
#define IMU_ACC_BIAS_Z -1.611629323282 // 0.000000001000 +0.000000059950
#define IMU_ACC_SCAL_X +0.019596994151 // 0.000000001000 +0.000000008629
#define IMU_ACC_SCAL_Y +0.020063097484 // 0.000000001000 -0.000000025839
#define IMU_ACC_SCAL_Z +0.019220815851 // 0.000000001000 +0.000000013142
#define IMU_ACC_ALGN_XY +0.005433312028 // 0.000099998063 +0.000003009846
#define IMU_ACC_ALGN_XZ -0.002145775586 // 0.000099999490 -0.000000611596
#define IMU_ACC_ALGN_YX +0.010318926624 // 0.000099993814 +0.000009365765
#define IMU_ACC_ALGN_YZ +0.001181064456 // 0.000099999952 +0.000000069165
#define IMU_ACC_ALGN_ZX +0.000460986682 // 0.000099999972 -0.000000033994
#define IMU_ACC_ALGN_ZY +0.001359239313 // 0.000099999921 +0.000000167210

// Step 6
// 0.023285 0.000000 0.027573 0.000867 0.002474 = 0.054198
// Loops: 870

#define IMU_MAG_BIAS_X +0.042618456135 // 0.000000999870 +0.000000046023
#define IMU_MAG_BIAS_Y -0.045497453861 // 0.000000958210 -0.000000287759
#define IMU_MAG_BIAS_Z -0.017525378101 // 0.000000995864 -0.000000105958
#define IMU_MAG_SCAL_X +0.187629173147 // 0.000000992170 +0.000000028805
#define IMU_MAG_SCAL_Y +0.196099264099 // 0.000000933839 -0.000000038063
#define IMU_MAG_SCAL_Z +0.190724780534 // 0.000000993675 -0.000000001457
#define IMU_MAG_ALGN_XY -0.041437842095 // 0.000094250581 -0.000001088638
#define IMU_MAG_ALGN_XZ -0.020457346919 // 0.000099765496 -0.000000043691
#define IMU_MAG_ALGN_YX -0.000617819816 // 0.000099995600 +0.000000005179
#define IMU_MAG_ALGN_YZ -0.012693554356 // 0.000099832577 -0.000000248513
#define IMU_MAG_ALGN_ZX -0.060000154188 // 0.000096334940 -0.000000094437
#define IMU_MAG_ALGN_ZY +0.022005329836 // 0.000099389351 -0.000000671420
// 0.000000035220 +0.000010060986
am glad to be part of AutoQuad world...
coptermax
 
Posts: 7
Joined: Sat Feb 02, 2013 9:49 pm

Re: odd /define IMU_MAG_INCL/ not the same - is this normal

Postby rput » Tue Oct 15, 2013 11:31 pm

The IMU_MAG_INCL is part of the optimization so it is normal for it to change. However, you should not have drift in your HUD when the copter is not moving.
Someone else on the forum with more experience may be able to tell you what to look for to identify the issue.
rput
 
Posts: 83
Joined: Sun Feb 10, 2013 5:45 pm

Re: odd /define IMU_MAG_INCL/ not the same - is this normal

Postby Max » Tue Oct 15, 2013 11:55 pm

Yea the inclination can change a bit during calculation. As for the HUD drift, what fw. version are you using? I'm not sure when this changed exactly (after 6.6.1 I think), but with earlier firmware the HUD heading indicator would show incorrect heading and drift until the AQ got a proper GPS fix and was in PH mode. It didn't affect the flying behavior. The HUD horizon line, however, should appear level/corresponds to the tilt of the AQ board, and should not drift. This gives you a good indication of the overall calibration solution quality.

-Max
Max
 
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Re: odd /define IMU_MAG_INCL/ not the same - is this normal

Postby coptermax » Wed Oct 16, 2013 9:19 pm

:D
first at all I had only issue with compass heading indicator.



- upload the latest FW aqv6.7.r195.b1322-rev1 (not jet uploaded cal. param.file) left on default.
- open OGC Primary Flight Display - to see how compass is working when I turning copter around 360 degrees and it is perfect, accurate, no drifting at all.

- then upload CAL PARAM file to the board and it has same problem ( drifting, slowly changing heading indicator when siting still, when I turning copter around 360 degrees come with 30% shift on compass scale )

my next move will be tried flying with and without GPS
to see how stable it is and make some log file to.
am glad to be part of AutoQuad world...
coptermax
 
Posts: 7
Joined: Sat Feb 02, 2013 9:49 pm

Re: odd /define IMU_MAG_INCL/ not the same - is this normal

Postby Max » Wed Oct 16, 2013 10:14 pm

That's a bit strange about the drifting only with calibrated params uploaded. I mean even if the calibrated numbers were way off, I don't know why it would cause a drift. You could check the MAG sensor outputs in log file and/or telemetry view. They shouldn't drift... and you can see if you're getting interference from somewhere. Comparing MAG outputs with and w/out calibrated params uploaded could be interesting.

r195? Is that listed as latest somewhere? Just curious... since it is a bit dated. I'd recommend trying the current 6.7 RC: http://code.google.com/p/autoquad/downl ... 0-rev1.hex

Cheers,
-Max
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Joined: Mon Aug 13, 2012 9:45 pm
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