Something wrong in the 1-3step in my calibration

Static, Dynamic, Log File Analysis, Troubleshooting

Something wrong in the 1-3step in my calibration

Postby Joanna » Fri Mar 13, 2015 11:07 am

In the 1 step of the calculation, there are some error--logger: checksum error in 'M' packet that i don't known what's the meaning. And the problem is also in the step 2. When i ignore these and came to the step 3, the solution is "nan". I'm really confused.


the solution of step 1:

MAE 0 = 0.000439
#define DEFAULT_IMU_GYO_BIAS_X -1.458840353e-002
#define DEFAULT_IMU_GYO_BIAS_Y -1.165691053e-002
#define DEFAULT_IMU_GYO_BIAS_Z -1.411827964e-002
#define DEFAULT_IMU_GYO_BIAS1_X -8.968820813e-004
#define DEFAULT_IMU_GYO_BIAS1_Y +1.600407197e-004
#define DEFAULT_IMU_GYO_BIAS1_Z +2.901808854e-004
#define DEFAULT_IMU_GYO_BIAS2_X -1.767121682e-006
#define DEFAULT_IMU_GYO_BIAS2_Y -5.297683227e-007
#define DEFAULT_IMU_GYO_BIAS2_Z -4.052169982e-007
#define DEFAULT_IMU_GYO_BIAS3_X +1.366224333e-008
#define DEFAULT_IMU_GYO_BIAS3_Y +8.068302660e-009
#define DEFAULT_IMU_GYO_BIAS3_Z -8.674569254e-008
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
cal: loaded 363236 records from 'C:\Users\TP\Desktop\static\023-AQL.LOG'

the solution of step 2:

Dynamic:
MAE: 0.0969252
AVG: 9.80698
Dynamic acc stats:
MAE: 0.0969252
AVG: 9.80698

Static 0 acc stats:
MAE: 0.0238397
AVG: 9.78737

logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
logger: checksum error in 'M' packet
cal: loaded 363236 records from 'C:\Users\TP\Desktop\static\023-AQL.LOG'
cal: loaded 127820 records from 'C:\Users\TP\Desktop\002-AQL.LOG'
#define DEFAULT_IMU_ACC_BIAS_X -9.853125354e-002
#define DEFAULT_IMU_ACC_BIAS_Y -2.118109835e-002
#define DEFAULT_IMU_ACC_BIAS_Z +2.689688336e-002
#define DEFAULT_IMU_ACC_BIAS1_X -8.345396578e-004
#define DEFAULT_IMU_ACC_BIAS1_Y +2.542494289e-004
#define DEFAULT_IMU_ACC_BIAS1_Z +2.853687992e-005
#define DEFAULT_IMU_ACC_BIAS2_X -1.416267326e-005
#define DEFAULT_IMU_ACC_BIAS2_Y +4.214072586e-005
#define DEFAULT_IMU_ACC_BIAS2_Z -9.238284143e-006
#define DEFAULT_IMU_ACC_BIAS3_X -7.210889005e-006
#define DEFAULT_IMU_ACC_BIAS3_Y +3.177652816e-006
#define DEFAULT_IMU_ACC_BIAS3_Z -1.062135738e-006
#define DEFAULT_IMU_ACC_SCAL_X +9.952918074e-001
#define DEFAULT_IMU_ACC_SCAL_Y +1.002519963e+000
#define DEFAULT_IMU_ACC_SCAL_Z +9.866863548e-001
#define DEFAULT_IMU_ACC_SCAL1_X +8.762356434e-005
#define DEFAULT_IMU_ACC_SCAL1_Y +1.091162152e-003
#define DEFAULT_IMU_ACC_SCAL1_Z +2.565255238e-003
#define DEFAULT_IMU_ACC_SCAL2_X +5.867052710e-005
#define DEFAULT_IMU_ACC_SCAL2_Y -7.999156693e-006
#define DEFAULT_IMU_ACC_SCAL2_Z -5.186215407e-005
#define DEFAULT_IMU_ACC_SCAL3_X -8.369116531e-006
#define DEFAULT_IMU_ACC_SCAL3_Y -4.590129732e-006
#define DEFAULT_IMU_ACC_SCAL3_Z -8.361899975e-007
#define DEFAULT_IMU_ACC_ALGN_XY -1.328815621e-002
#define DEFAULT_IMU_ACC_ALGN_XZ -1.184725813e-002
#define DEFAULT_IMU_ACC_ALGN_YX +1.495165895e-002
#define DEFAULT_IMU_ACC_ALGN_YZ +2.724335997e-002
#define DEFAULT_IMU_ACC_ALGN_ZX +0.000000000e+000
#define DEFAULT_IMU_ACC_ALGN_ZY -2.515887190e-002

the solution of step 3:

MAE: nan
AVG: nan
lowMAE = 0.014331, n[0] = 0.000146
#define DEFAULT_IMU_MAG_BIAS_X +nan
#define DEFAULT_IMU_MAG_BIAS_Y +nan
#define DEFAULT_IMU_MAG_BIAS_Z +nan
#define DEFAULT_IMU_MAG_BIAS1_X +nan
#define DEFAULT_IMU_MAG_BIAS1_Y +nan
#define DEFAULT_IMU_MAG_BIAS1_Z +nan
#define DEFAULT_IMU_MAG_BIAS2_X +nan
#define DEFAULT_IMU_MAG_BIAS2_Y +nan
#define DEFAULT_IMU_MAG_BIAS2_Z +nan
#define DEFAULT_IMU_MAG_BIAS3_X +nan
#define DEFAULT_IMU_MAG_BIAS3_Y +nan
#define DEFAULT_IMU_MAG_BIAS3_Z +nan
#define DEFAULT_IMU_MAG_SCAL_X +nan
#define DEFAULT_IMU_MAG_SCAL_Y +nan
#define DEFAULT_IMU_MAG_SCAL_Z +nan
#define DEFAULT_IMU_MAG_SCAL1_X +nan
#define DEFAULT_IMU_MAG_SCAL1_Y +nan
#define DEFAULT_IMU_MAG_SCAL1_Z +nan
#define DEFAULT_IMU_MAG_SCAL2_X +nan
#define DEFAULT_IMU_MAG_SCAL2_Y +nan
#define DEFAULT_IMU_MAG_SCAL2_Z +nan
#define DEFAULT_IMU_MAG_SCAL3_X +nan
#define DEFAULT_IMU_MAG_SCAL3_Y +nan
#define DEFAULT_IMU_MAG_SCAL3_Z +nan
#define DEFAULT_IMU_MAG_ALGN_XY +nan
#define DEFAULT_IMU_MAG_ALGN_XZ +nan
#define DEFAULT_IMU_MAG_ALGN_YX +nan
#define DEFAULT_IMU_MAG_ALGN_YZ +nan
#define DEFAULT_IMU_MAG_ALGN_ZX +nan
#define DEFAULT_IMU_MAG_ALGN_ZY +nan
#define DEFAULT_IMU_MAG_INCL +nan
Joanna
 
Posts: 2
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Re: Something wrong in the 1-3step in my calibration

Postby bluuu » Fri Mar 13, 2015 3:38 pm

post your log files (via e.g. dropbox), are you using aimu or dimu ?
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Re: Something wrong in the 1-3step in my calibration

Postby Max » Fri Mar 13, 2015 3:52 pm

The errors indicate possible corruption or bad data in the static log file. Did you trim the ends off that log as described in the wiki? Do you have another static file (from different freeze/thaw) to test with?

You could also post screenshots of the relevant graphs from the static log. Uploading the huge static file could take a while. But if you do that, at least compress (zip) it first.

-Max
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Re: Something wrong in the 1-3step in my calibration

Postby EX_TRUE » Thu Aug 13, 2015 7:22 am

Hello! I ran into exactly the same problems as you did, and I have no idea about how to handle it.
Firstly I had both the 'checksum error in 'M' packet' problem and the '+nan' problem. Then after I tried trimming off the head and end of static files, the 'checksum error in 'M' packet' gone, but there were still '+nan' in the third step.
Would you like share with me how you solved the problem?
EX_TRUE
 
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