AutoQuad Forum

Hi guys,

I did with success the static calibration of my board.
After that, I did the dynamic calibration but somethning is strange, the MAE still begin at 4.2 more or less and after several loops, the numbers of the columns grow up really really quickly. I did the Calibso dance on a football stadium, without any metal button, or phone ... and I did it each time in more or less 6min.
I try to use the a low variance but it's always the same thing.

I attache the aq-log file and this is screenshoot of my curbes..

0.488458 0.255353 2.781065 0.000000 0.000000 = 3.524876
Loops: 9

#define IMU_GYO_SCAL_X -0.002160570891 // 0.283458889593 -0.002118443482
#define IMU_GYO_SCAL_Y +0.252386424225 // 0.001677607223 -0.000405345455
#define IMU_GYO_SCAL_Z +0.169729665823 // 0.001876327392 +0.000931883659
#define IMU_GYO_ALGN_XY -1.323940152262 // 5.775164264589 -0.038967649542
#define IMU_GYO_ALGN_XZ +60.327847707404 // 17760.893355101933 +5.493763530899
#define IMU_GYO_ALGN_YX -67.903851763994 // 48163.503514707823 -15.375611334587
#define IMU_GYO_ALGN_YZ +26.277765097146 // 984.495588756114 +0.246821068367
#define IMU_GYO_ALGN_ZX -65.379119567928 // 67863.743873516840 +17.868562596860
#define IMU_GYO_ALGN_ZY +1.618996280175 // 7.086417018122 +0.035262191046

did you try using the variance option? i had trouble with my calibration MAE going up and down until i tried the adjusting the variance. from there I was able to get a good MAE and finish up the calcs.

post your logs
Are you using aimu or dimu ?

If this is AIMU, I recommend running the calibrations with a copy of QGC 1.3. The later calibration utilities seems to have issues with AIMU MAG (eg. my logs which worked before, now don't). I can't promise that's the issue, but it's worth a shot.

-Max

Yes, can confirm, that the latest cal & sim is not working with AIMU MAG.

Hello again.

I made dynamic calibration few times, but in all cases when I did 4b stage I received error:
"#define DEFAULT_IMU_ACC_BIAS_X -0.040654764126 // 0.000000122415 +0.000002606639
#define DEFAULT_IMU_ACC_BIAS_Y +0.100851197105 // 0.000000103895 -0.000000527557
#define DEFAULT_IMU_ACC_BIAS_Z +0.092975115458 // 0.000000197562 +0.000003243933
#define DEFAULT_IMU_ACC_SCAL_X +0.995598591364 // 0.000000213032 +0.000035461473
#define DEFAULT_IMU_ACC_SCAL_Y +1.948026498979 // 0.016544843496 +0.937876576682
#define DEFAULT_IMU_ACC_SCAL_Z +12.283248814302// 0.00// 1.083163935321 +12.029943480287
#define DEFAULT_IMU_ACC_ALGN_XY -0.030032986263 // 0.000031078896 +0.000024033586
#define DEFAULT_IMU_ACC_ALGN_XZ +0.106026393446 // 0.000403596310 -0.000440906313
#define DEFAULT_IMU_ACC_ALGN_YX +0.022000874847 // 0.000016362903 -0.000007976069
#define DEFAULT_IMU_ACC_ALGN_YZ +0.114228857596 // 0.000349167842 +0.000046992310
#define DEFAULT_IMU_ACC_ALGN_ZX -0.000103225406 // 0.000013919374 -0.000000791245
#define DEFAULT_IMU_ACC_ALGN_ZY -0.114661359390 // 0.000019298259 -0.000004922697
0.944665 0.106198 1.713620 0.000000 0.000000 = 2.764483DCHDD failed with norm = 6.352966
R = [
+3.50136e-04 -1.04368e-08 +5.02231e-08 -5.11095e-08 -4.31704e-05 +1.02589e-05 +7.48778e-07 -1.67400e-06 +4.76205e-07 +2.24582e-06 -2.95672e-07 -4.67014e-07 ;
+0.00000e+00 +3.22375e-04 +2.05724e-08 -1.90057e-08 +9.03803e-06 -1.36345e-06 +3.32026e-07 -5.61365e-07 +2.29738e-07 +7.19451e-07 -1.18548e-07 -1.81184e-07 ;
+0.00000e+00 +0.00000e+00 +4.45386e-04 +9.78057e-08 -2.83516e-05 -1.66684e-04 -1.45086e-06 +7.40140e-06 -6.08283e-07 -3.03996e-06 +6.67056e-07 +9.09589e-07 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +4.73901e-04 -1.59194e-03 +6.32785e-03 -3.16286e-07 -1.10086e-05 +2.78127e-07 -1.99111e-06 -6.28729e-07 -1.20144e-06 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +1.10898e-01 -4.97831e-01 -1.28465e-05 +5.91508e-04 +1.53421e-06 -1.67509e-05 -1.54001e-06 -4.20006e-06 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +1.02547e+00 +2.44987e-05 -6.32765e-04 -3.35233e-06 -1.45672e-04 -1.95761e-06 -1.66846e-05 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +5.62383e-03 +1.38798e-04 -3.87629e-06 -6.82448e-05 +3.60971e-06 +1.95102e-06 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +2.13998e-02 +2.81543e-06 +2.81039e-04 -2.24660e-05 -9.62442e-06 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +4.09467e-03 -2.38006e-05 +7.71323e-07 +6.62875e-07 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +2.15440e-02 +9.76149e-06 +4.59631e-06 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +3.73525e-03 -1.00836e-06 ;
+0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +0.00000e+00 +4.40777e-03 ;
];
x = [ -4.20335e-07 +1.67881e-07 -3.74054e-07 -7.79230e-06 +1.30375e-01 +1.70097e+00 +6.11608e-05 -1.21273e-04 -6.21892e-06 -4.35914e-04 -6.71721e-06 -3.97396e-05 ];
Segmentation fault: 11"
It is mean that I need to made Calibso again?
Thanks
-Valentin

And this is curves for my dynamic calibration:

- Valentin