Dinamic calibration

[skyAlex]

In the process of calculations dinamic calibration, I get any results:

#define IMU_MAG_INCL -73.50

1. cal-rate
#define IMU_GYO_BIAS_X -1.354488402e+000
#define IMU_GYO_BIAS_Y -1.360867181e+000
#define IMU_GYO_BIAS_Z -1.337553574e+000
#define IMU_GYO_BIAS1_X -8.288985784e-005
#define IMU_GYO_BIAS1_Y -1.124744966e-004
#define IMU_GYO_BIAS1_Z -2.834196954e-005
#define IMU_GYO_BIAS2_X +3.026351591e-006
#define IMU_GYO_BIAS2_Y +8.171439369e-006
#define IMU_GYO_BIAS2_Z +8.338829639e-007
#define IMU_GYO_BIAS3_X +6.200240660e-008
#define IMU_GYO_BIAS3_Y +7.246764194e-008
#define IMU_GYO_BIAS3_Z -1.322646349e-008

2.cal-acc
#define IMU_ACC_BIAS_X -1.643020195e+000
#define IMU_ACC_BIAS_Y -1.643059201e+000
#define IMU_ACC_BIAS_Z -1.623887060e+000
#define IMU_ACC_BIAS1_X +4.795846367e-005
#define IMU_ACC_BIAS1_Y +7.534335977e-007
#define IMU_ACC_BIAS1_Z -5.050883963e-006
#define IMU_ACC_BIAS2_X +3.488534819e-007
#define IMU_ACC_BIAS2_Y -8.137164453e-007
#define IMU_ACC_BIAS2_Z +3.531498477e-006
#define IMU_ACC_BIAS3_X +2.905621273e-008
#define IMU_ACC_BIAS3_Y -1.152199788e-007
#define IMU_ACC_BIAS3_Z -1.686289461e-007
#define IMU_ACC_SCAL_X +1.956509969e-002
#define IMU_ACC_SCAL_Y +1.992837835e-002
#define IMU_ACC_SCAL_Z +1.884644843e-002
#define IMU_ACC_SCAL1_X +5.301651206e-007
#define IMU_ACC_SCAL1_Y +9.345278316e-006
#define IMU_ACC_SCAL1_Z +1.860348755e-005
#define IMU_ACC_SCAL2_X -6.548713061e-008
#define IMU_ACC_SCAL2_Y -6.881525500e-008
#define IMU_ACC_SCAL2_Z -1.307278738e-007
#define IMU_ACC_SCAL3_X -1.051358098e-009
#define IMU_ACC_SCAL3_Y -1.556370402e-008
#define IMU_ACC_SCAL3_Z -2.413715240e-008
#define IMU_ACC_ALN_XY +8.969208085e-003
#define IMU_ACC_ALN_XZ +5.297827796e-004
#define IMU_ACC_ALN_YX +1.348240997e-002
#define IMU_ACC_ALN_YZ +5.320865448e-004
#define IMU_ACC_ALN_ZX +3.163159238e-004
#define IMU_ACC_ALN_ZY +1.178907823e-003

3.cal-mag
#define IMU_MAG_BIAS_X -3.058135524e-002
#define IMU_MAG_BIAS_Y -2.892647026e-002
#define IMU_MAG_BIAS_Z +1.339874297e-002
#define IMU_MAG_BIAS1_X +3.281217678e-005
#define IMU_MAG_BIAS1_Y -4.321632773e-005
#define IMU_MAG_BIAS1_Z -7.014601640e-005
#define IMU_MAG_BIAS2_X -1.612637783e-006
#define IMU_MAG_BIAS2_Y -1.728085961e-006
#define IMU_MAG_BIAS2_Z -1.015881651e-006
#define IMU_MAG_BIAS3_X +2.346873886e-007
#define IMU_MAG_BIAS3_Y +2.397228533e-007
#define IMU_MAG_BIAS3_Z +8.997346467e-008
#define IMU_MAG_SCAL_X +2.018789647e-001
#define IMU_MAG_SCAL_Y +2.218631346e-001
#define IMU_MAG_SCAL_Z +1.808026003e-001
#define IMU_MAG_SCAL1_X -2.735634668e-004
#define IMU_MAG_SCAL1_Y -3.160063761e-004
#define IMU_MAG_SCAL1_Z -1.761337993e-004
#define IMU_MAG_SCAL2_X -3.127425625e-006
#define IMU_MAG_SCAL2_Y -1.618802512e-006
#define IMU_MAG_SCAL2_Z +2.787812792e-007
#define IMU_MAG_SCAL3_X -6.615140402e-007
#define IMU_MAG_SCAL3_Y -7.355153692e-007
#define IMU_MAG_SCAL3_Z -6.762282421e-007
#define IMU_MAG_ALGN_XY -8.124849883e-003
#define IMU_MAG_ALGN_XZ -6.134694373e-004
#define IMU_MAG_ALGN_YX -1.314871118e-002
#define IMU_MAG_ALGN_YZ +6.461517888e-003
#define IMU_MAG_ALGN_ZX -1.619615714e-002
#define IMU_MAG_ALGN_ZY -1.798268840e-002
#define IMU_MAG_INCL -7.350000000e+001

4a.Sim3-gyo

#define IMU_GYO_SCAL_X +0.116757754934 // 0.000001295652 +0.000000000005
#define IMU_GYO_SCAL_Y +0.117350887981 // 0.000001597962 +0.000000000035
#define IMU_GYO_SCAL_Z +0.115616585533 // 0.000001105998 +0.000000000844
#define IMU_GYO_ALGN_XY -0.003763406658 // 0.004282893514 -0.000000004395
#define IMU_GYO_ALGN_XZ -0.001905446320 // 0.004225706363 +0.000000001824
#define IMU_GYO_ALGN_YX -0.009885922045 // 0.003238792535 +0.000000001308
#define IMU_GYO_ALGN_YZ -0.013317903083 // 0.003880924659 -0.000000003936
#define IMU_GYO_ALGN_ZX +0.010606387021 // 0.001789563270 -0.000000002128
#define IMU_GYO_ALGN_ZY +0.009722726370 // 0.002356824208 +0.000000000228

4b.sim3-acc

#define IMU_ACC_BIAS_X -1.642612533165 // 0.000000000834 -0.000000001877
#define IMU_ACC_BIAS_Y -1.643033371809 // 0.000000000975 -0.000000006292
#define IMU_ACC_BIAS_Z -1.623820722383 // 0.000000000618 +0.000000004987
#define IMU_ACC_SCAL_X +0.019542738446 // 0.000000000981 -0.000000001123
#define IMU_ACC_SCAL_Y +0.019899695688 // 0.000000000981 +0.000000000863
#define IMU_ACC_SCAL_Z +0.018846298253 // 0.000000000995 +0.000000000894
#define IMU_ACC_ALN_XY +0.017208534296 // 0.000099346173 +0.000007007990
#define IMU_ACC_ALN_XZ +0.000507743576 // 0.000099986397 -0.000000022223
#define IMU_ACC_ALN_YX +0.003875861150 // 0.000096636195 -0.000006612747
#define IMU_ACC_ALN_YZ +0.000446854644 // 0.000099996689 -0.000000098489
#define IMU_ACC_ALN_ZX +0.000317201440 // 0.000099997902 +0.000000001331
#define IMU_ACC_ALN_ZY +0.000509653905 // 0.000099953940 -0.000000775944

5.sym3-gyo-acc
#define IMU_GYO_SCAL_X +0.116755361425 // 0.000000999916 -0.000000000424
#define IMU_GYO_SCAL_Y +0.117348359088 // 0.000000999533 -0.000000000664
#define IMU_GYO_SCAL_Z +0.115586526327 // 0.000000993993 -0.000000000939
#define IMU_GYO_ALGN_XY -0.003177578994 // 0.000999953951 +0.000000332386
#define IMU_GYO_ALGN_XZ -0.001984305931 // 0.000999997838 -0.000000082161
#define IMU_GYO_ALGN_YX -0.012384030997 // 0.000999888778 -0.000000015509
#define IMU_GYO_ALGN_YZ -0.013403654504 // 0.000997747258 +0.000000032802
#define IMU_GYO_ALGN_ZX +0.010632650363 // 0.000999597074 +0.000000001670
#define IMU_GYO_ALGN_ZY +0.009444464430 // 0.000999822660 -0.000000011821
#define IMU_ACC_BIAS_X -1.642634761312 // 0.000000000772 -0.000000000356
#define IMU_ACC_BIAS_Y -1.642986632952 // 0.000000000982 -0.000000001405
#define IMU_ACC_BIAS_Z -1.623721447088 // 0.000000000686 +0.000000001501
#define IMU_ACC_SCAL_X +0.019568259196 // 0.000000000999 +0.000000000463
#define IMU_ACC_SCAL_Y +0.019932134879 // 0.000000000999 +0.000000001933
#define IMU_ACC_SCAL_Z +0.018859160772 // 0.000000000993 -0.000000000023
#define IMU_ACC_ALN_XY +0.020773503825 // 0.000099931015 +0.000000013928
#define IMU_ACC_ALN_XZ +0.000501344175 // 0.000099986245 -0.000000009028
#define IMU_ACC_ALN_YX +0.004167673282 // 0.000099995156 +0.000000000047
#define IMU_ACC_ALN_YZ +0.000406102027 // 0.000099998621 -0.000000046354
#define IMU_ACC_ALN_ZX +0.000342551995 // 0.000099998693 +0.000000029686
#define IMU_ACC_ALN_ZY +0.000477414074 // 0.000099999114 -0.000000035956

and 6. mag-inc
still calculation...



All results i saved to param file. It right? But at different stages I get the value of one and the same-variables, and the numbers are different.
For example:
2.cal-acc
#define IMU_ACC_ALN_ZY +1.178907823e-003
4b.sim3-acc
#define IMU_ACC_ALN_ZY +0.000509653905 // 0.000099953940 -0.000000775944
5.sym3-gyo-acc
#define IMU_ACC_ALN_ZY +0.000477414074 // 0.000099999114 -0.000000035956

And so many variables. It turns out that in the param file are the same variables with different values. Is this normal? that then write to AQ?

[sandmen]

Yes, the same variables with different numbers.
The important thing is, the appending from the values, after each step.
The cal & sim programs, reads in the parameter file. And overwrite always the old value.
So we only need the latest number of each variable.