DIMU with very short full calibration results

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DIMU with very short full calibration results

Postby joebar.rc » Tue Dec 10, 2013 2:30 pm

Hi Guys,

This is a short demo vid i shot this morning with the upcoming DIMU (and full CAN enabled ESC32 communication). The DIMU has a new simple calibration option that I tried last week with very good results.
In this demo I wanted to see the results from a full calibration (freezing, warming up, dance and calculations) and if possible within one morning. I started around 7:00 am and took the vid around 10:30am the same morning.


Hours spend: freezing, warming up: ~75 min (1 file)
Dynamic dance: 7 min (1 file)
Dynamic calibrations:
Step 1-3: ~15 min
Step 4a & 4b both 50 loops ~10 min
Step 5 150 loops ~30 min
Step 6 3500 loops ~30 min
As you can see very short loops:
In total just under 3 hours on a core i5 (first gen) notebook.

I'm very very pleased with the result: it is a quad with slow turning motors and large 15" props so mind you that in mild wind like in this vid it can be less stable than fast turning props.
The alt hold is impressive and during the RTH or forward DHV flight it did not change altitude at all.
It proofs that full calibration is still very useful for the temperature compensation (-5 degrees during vid) and magneto offset based on your electromagnetic profile but it does not have to be a long session. I am very curious about the other results when the DIMU will hit the market.

Menno
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Re: DIMU with very short full calibration results

Postby kinderkram » Tue Dec 10, 2013 3:48 pm

Veeery nice, Menno!

Thx for keeping us updated. Alt_hold looks perfect. 8-)
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Re: DIMU with very short full calibration results

Postby bn999 » Tue Dec 10, 2013 4:05 pm

Looks very good. We're splitting hairs here, but you might want to tweak your NAV_SPEED_P parameter up by maybe 10% to 15%. I see a little bit of overshoot when returning and it might settle down the few cm of side to side wandering.

For the record, what version of the fw did you use?
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Re: DIMU with very short full calibration results

Postby joebar.rc » Tue Dec 10, 2013 6:13 pm

bn999 wrote:Looks very good. We're splitting hairs here, but you might want to tweak your NAV_SPEED_P parameter up by maybe 10% to 15%. I see a little bit of overshoot when returning and it might settle down the few cm of side to side wandering.

For the record, what version of the fw did you use?

Thanks for the suggestion Bill, I'll see what results altering the nav_speed has, indeed some overshoot so thanks.
I did use r290 in this setup.
Btw, params loading from EEPROM is working perfectly now, I added a param and some code in the d_imu.c that allows disable (use AQ imu params), store to EEPROM on reboot and use EEPROM stored params.
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Re: DIMU with very short full calibration results

Postby joebar.rc » Tue Dec 10, 2013 6:24 pm

kinderkram wrote:Veeery nice, Menno!

Thx for keeping us updated. Alt_hold looks perfect. 8-)

Yep, although I already found that perfect with only baro indoors. It is really a good upgrade. The purpose for this vid was solely to see if the effort in calibration could be to the absolute minimum and for me, that was successful. 3 hours is nothing IMHO, where the real effort is only around half an hour, the rest is done by the CPU.

Maybe it will convince some of the audience that are uncertain about the calibration part, that full day calibrations are probably not needed anymore, although that can only be said if more have the same results obviously.
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Re: DIMU with very short full calibration results

Postby epyonxero » Tue Dec 10, 2013 10:11 pm

Impressive. Do you have a build log for that vehicle?
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Re: DIMU with very short full calibration results

Postby Jdmagoo » Tue Dec 10, 2013 10:52 pm

That looks really good, can't wait for these to be released.

Is there any chance you could upload a higher res version to youtube or somewhere please, not sure if it's the video, the forum or my ipad that's making it low res.

Good work as always Menno
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Re: DIMU with very short full calibration results

Postby JussiH » Tue Dec 10, 2013 11:54 pm

Very good result, menno.
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Re: DIMU with very short full calibration results

Postby chestnut » Mon Dec 16, 2013 3:35 am

Hi joebar.rc,

Now i'm using DMIU board, but It't not add EEPROM and using DRATE function for calib.(I'm design hardware board) It's good for manual mode.

http://www.youtube.com/watch?v=gHSECBlHxDE

BUT for full calib. For step 3, it request ADC_MAG_SIGN for calib. Now i'm add ADC_MAG_SIGN = 1 and recalib, but in step 3 loop forever . Can you help me for full calib for DIMU? Thanks.
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Re: DIMU with very short full calibration results

Postby joebar.rc » Mon Dec 16, 2013 7:50 am

chestnut wrote:Hi joebar.rc,

Now i'm using DMIU board, but It't not add EEPROM and using DRATE function for calib.(I'm design hardware board) It's good for manual mode.

http://www.youtube.com/watch?v=gHSECBlHxDE

BUT for full calib. For step 3, it request ADC_MAG_SIGN for calib. Now i'm add ADC_MAG_SIGN = 1 and recalib, but in step 3 loop forever . Can you help me for full calib for DIMU? Thanks.

I indeed had to introduce the stop in the command line. You have to experiment some to get the best results.

So, cal --mag --stop 500 staticlog : dynamiclog
My best results where with stop 450 as I recall. The data will be used in the cal3 for further improvement..

Menno
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