DIMU calibration

Info & Discussions about good ole AQ6, taken to the next level.

Re: DIMU calibration

Postby Trnquill » Sun Apr 06, 2014 7:49 am

13brv3 wrote:Hopefully a GCS version will be packaged in the near future that will have the correct files and settings for the DIMU. I can wait 8-)

Yeah, together with step-by-step wiki instructions like for AIMU calibration process. DIMU calibration is now in "autoquadish/opensource-state" where all the information is available but scattered around multiple forum threads. And in the same time the official wiki does not have instrucions that actually work.

I for one am waiting for software and instructions that do the job just like for AIMU - or even better/easier! After all, one of the key selling points of DIMU was easier calibration... ;)
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Re: DIMU calibration

Postby teramax » Sun Apr 06, 2014 10:59 am

you can still perform the "tara" funktion and it flies without any other calibration.
And yes it flys awesome. ;)
somehow everything can fly
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Re: DIMU calibration

Postby JussiH » Sun Apr 06, 2014 11:26 am

Guys, the tare is a perfectly valid way of calibrating and getting in the air. Can it get any easier?

AQ is the only public projekt that has an option for full temp compensation and scale/bias calibration. So what the tare does is to put us at the same level as everyone else in terms of sensor calibration and offer you a 5 second way to calibrate your AQ. Seriously, this is what you have all been asking for for years on end...its here now, and it works good! ;)

I´ll update the Docu with the informations from the post I made earlier about DIMU calibration. Work IS beeing done on simplifying the full calibration routine, but its not like we have a coding-center we can draw on.... :D

I expect (but wont make promises on Max´s behalf) that a new version of QGC will be released shortly and that it will have better functions for DIMU, like storing of tared values, EEprom handling and taring from GCS.
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Re: DIMU calibration

Postby Trnquill » Sun Apr 06, 2014 12:11 pm

JussiH wrote:Guys, the tare is a perfectly valid way of calibrating and getting in the air. Can it get any easier?

That IS super-easy, that's for sure! :) We just need to add some instruments on our copters to check they are absolutely level before hitting the "tare". I have some cheap bubble levels I think I try. I also start the freezing process of DIMU while waiting for QGC and wiki instructions. Keep up the good work! :)

To make sure, even the MAG sensors work OK without any calibration except the "tare" before a flight, right?
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Re: DIMU calibration

Postby 13brv3 » Sun Apr 06, 2014 2:30 pm

JussiH wrote:So what the tare does is to put us at the same level as everyone else in terms of sensor calibration and offer you a 5 second way to calibrate your AQ. Seriously, this is what you have all been asking for for years on end...its here now, and it works good! ;)


Hi Jussi,

The tare function is a HUGE step in the right direction, and it does work great 8-)

Aside from sorting out the full calibration files and instructions, the only other thing that might be nice to have is a quick compass cal procedure for the folks who want to take the quick easy calibration road. I say "might" because I'm not sure how well the compass functions without any cal? I assume it needs something??

BTW, thanks for getting the DIMU boards out so quickly. The connectors are excellent, and they were easy to install. Nice job 8-)

Cheers,
Rusty
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Re: DIMU calibration

Postby JussiH » Sun Apr 06, 2014 4:42 pm

The default set will put your mags in a acceptable range - from what I have seen so far, the HMC5983 varies very little from chip to chip. Variations on the MPU are also considerably smaller than it was with the analog sensors. All these digital sensors are usually calibrated roughly during manufactoring.

The default set is likely something we can improve as more people build calibration data for their crafts. The one I posted is one I got from Bill way back and it still puts my mags very close to ideal.

What I have found with the DIMU is that once the default set is loaded, your compass heading will be very close to true. With the AIMU, you would only get a true heading once the GPS had been able to correct it.

With the new versions of code, the mag is only used to estimate an initial heading on the ground. Once you arm and takeoff, the heading is maintained by the gyros and corrected by GPS.
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Re: DIMU calibration

Postby 13brv3 » Sun Apr 06, 2014 5:11 pm

JussiH wrote:With the new versions of code, the mag is only used to estimate an initial heading on the ground. Once you arm and takeoff, the heading is maintained by the gyros and corrected by GPS.


Bill mentioned that being possible, but I didn't know it had actually made it into the software yet? Are you saying it's in the DIMU versions that are currently posted?

Once that feature is in place, is it going to be safe to put a battery over the FC board (assuming I move the GPS antenna)? I've always thought the top of the copter was a good place for a battery, but I haven't been able to put it there with the AQ.

Thanks,
Rusty
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Re: DIMU calibration

Postby HeliHenkie » Sun Apr 06, 2014 6:37 pm

Hi all,

I've been tinkering with my new DIMU board for two days now, but with limited success, and getting the feeling I'm making things to complex.

So I'd like to know what would be the minimum required steps to get AQ6 + DIMU + CAN in the air starting from scratch?

The steps I can think of are:

    1. Mount the DIMU on the AQ6 board
    2. Mount the board on the multicopter
    3. Flash latest experimental firmware from FTP server
    4. Load DIMU parameter set offered by Jussi from this thread
    5. Set values for radio type, frame type and enter values for local magnetic inclination and declination
    6. Use the TARE function
    7. Start flying ..........

Am I forgetting something? Please add missing steps to my list.

Best regards,

Jan Willem
The Netherlands
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Re: DIMU calibration

Postby teramax » Sun Apr 06, 2014 11:28 pm

Jan i realy think you are thinking too complicated, i fly meanwhile 2 DIMU Boards with very little effort.
Step 1. solder
Step 2. set your parameters like RC, Motor Mix, Mag inkl. and decl.
Step 3. power up and do the "tare funktion"
Step 4. fly

Yes for sure also a quick calculation with one static and one dynamic file are good but definitly not needet.
When you take the long road and calibrate you need a fast trigger finger, watch out the AVG on Step3 and hit abort when close to 2,000. You can repeat as often you like.

I fly FW: aqv7.0.r372.b1704-hwv6.1-dimu1.1
somehow everything can fly
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Re: DIMU calibration

Postby skew » Mon Apr 07, 2014 12:50 am

I have found that Tare function still needs to be done after the calibration parm is loaded. I tried to fly with just the parm calibration and I was having all kinds of wobbles I did the Tare and it is the best my AQ has ever been!!!! I can fly it around agressive in manual mode like my multiwii quad without it wanting to freak out if you try to stop it to fast.
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