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
// [HLoops: 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
// [HLoops: 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
// [HLoops: 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
// [HLoops: 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