DIMU calibration

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

Re: DIMU calibration

Postby epyonxero » Tue Apr 08, 2014 7:14 pm

joebar.rc wrote:
epyonxero wrote:If youre using the TARE function instead of a full calibration does it need to be tared after every power up? I just tried it on my bench and it leveled the HUD but after resetting the level was gone. Is there a way to save the tare?


Sure it is, if you TARE it actually sets params to the 0 bias.
If you are satisfied with it. ie level flight just hook it up to the QGCS and press transmit-save like any other param change. It than will be stored in flash (not eeprom) and used from that point on, no need to do this every startup :)

Menno


Ah, thank you.
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Re: DIMU calibration

Postby afernan » Wed Apr 09, 2014 2:35 pm

For those looking for the DIMU "deffault set" as posted by JussiH here: viewtopic.php?f=42&t=3039&start=20

Code: Select all
    #define DEFAULT_IMU_ACC_BIAS_X -1.933758020e-01
    #define DEFAULT_IMU_ACC_BIAS_Y -8.807090780e-02
    #define DEFAULT_IMU_ACC_BIAS_Z +4.523231005e-01
    #define DEFAULT_IMU_ACC_BIAS1_X +6.298345346e-04
    #define DEFAULT_IMU_ACC_BIAS1_Y -4.342186860e-06
    #define DEFAULT_IMU_ACC_BIAS1_Z -1.132666890e-02
    #define DEFAULT_IMU_ACC_BIAS2_X -7.202130030e-05
    #define DEFAULT_IMU_ACC_BIAS2_Y +2.751657101e-05
    #define DEFAULT_IMU_ACC_BIAS2_Z -6.013562265e-04
    #define DEFAULT_IMU_ACC_BIAS3_X +7.734938387e-07
    #define DEFAULT_IMU_ACC_BIAS3_Y -3.519207650e-07
    #define DEFAULT_IMU_ACC_BIAS3_Z +9.511640149e-06
    #define DEFAULT_IMU_ACC_SCAL_X +1.005262441e+00
    #define DEFAULT_IMU_ACC_SCAL_Y +1.000217091e+00
    #define DEFAULT_IMU_ACC_SCAL_Z +1.007255494e+00
    #define DEFAULT_IMU_ACC_SCAL1_X +4.193607514e-05
    #define DEFAULT_IMU_ACC_SCAL1_Y +4.350687238e-05
    #define DEFAULT_IMU_ACC_SCAL1_Z -4.060128191e-05
    #define DEFAULT_IMU_ACC_SCAL2_X +2.375517772e-07
    #define DEFAULT_IMU_ACC_SCAL2_Y +4.202039819e-07
    #define DEFAULT_IMU_ACC_SCAL2_Z +5.109700295e-06
    #define DEFAULT_IMU_ACC_SCAL3_X -2.602565217e-09
    #define DEFAULT_IMU_ACC_SCAL3_Y -8.355204299e-09
    #define DEFAULT_IMU_ACC_SCAL3_Z -5.719190738e-08
    #define DEFAULT_IMU_ACC_ALGN_XY -3.652631780e-03
    #define DEFAULT_IMU_ACC_ALGN_XZ -2.301002501e-02
    #define DEFAULT_IMU_ACC_ALGN_YX +4.866067412e-03
    #define DEFAULT_IMU_ACC_ALGN_YZ -1.066079480e-02
    #define DEFAULT_IMU_ACC_ALGN_ZX +1.900450230e-02
    #define DEFAULT_IMU_ACC_ALGN_ZY -3.631478580e-03


    #define DEFAULT_IMU_MAG_BIAS_X -5.618762485e-01
    #define DEFAULT_IMU_MAG_BIAS_Y -1.128859119e-01
    #define DEFAULT_IMU_MAG_BIAS_Z +1.761997784e-01
    #define DEFAULT_IMU_MAG_BIAS1_X +1.365822903e-03
    #define DEFAULT_IMU_MAG_BIAS1_Y +1.456755908e-04
    #define DEFAULT_IMU_MAG_BIAS1_Z +5.381007897e-05
    #define DEFAULT_IMU_MAG_BIAS2_X -1.128636828e-05
    #define DEFAULT_IMU_MAG_BIAS2_Y -1.069023788e-06
    #define DEFAULT_IMU_MAG_BIAS2_Z +5.784597978e-06
    #define DEFAULT_IMU_MAG_BIAS3_X +1.896911985e-07
    #define DEFAULT_IMU_MAG_BIAS3_Y +7.998319752e-09
    #define DEFAULT_IMU_MAG_BIAS3_Z +1.427045123e-08
    #define DEFAULT_IMU_MAG_SCAL_X +1.025754210e+00
    #define DEFAULT_IMU_MAG_SCAL_Y +1.025173541e+00
    #define DEFAULT_IMU_MAG_SCAL_Z +9.508402009e-01
    #define DEFAULT_IMU_MAG_SCAL1_X -3.716502102e-04
    #define DEFAULT_IMU_MAG_SCAL1_Y -4.048217880e-04
    #define DEFAULT_IMU_MAG_SCAL1_Z -8.007110823e-05
    #define DEFAULT_IMU_MAG_SCAL2_X +1.633924171e-05
    #define DEFAULT_IMU_MAG_SCAL2_Y +1.372434465e-05
    #define DEFAULT_IMU_MAG_SCAL2_Z +1.432787360e-05
    #define DEFAULT_IMU_MAG_SCAL3_X -3.355794831e-07
    #define DEFAULT_IMU_MAG_SCAL3_Y -2.954833300e-07
    #define DEFAULT_IMU_MAG_SCAL3_Z -3.190654025e-07
    #define DEFAULT_IMU_MAG_ALGN_XY -3.057935117e-02
    #define DEFAULT_IMU_MAG_ALGN_XZ -3.674296134e-02
    #define DEFAULT_IMU_MAG_ALGN_YX +7.321501713e-03
    #define DEFAULT_IMU_MAG_ALGN_YZ +1.021515215e-03
    #define DEFAULT_IMU_MAG_ALGN_ZX +6.866267930e-03
    #define DEFAULT_IMU_MAG_ALGN_ZY +1.580880766e-02


    #define DEFAULT_IMU_GYO_BIAS_X -4.571127191e-02
    #define DEFAULT_IMU_GYO_BIAS_Y +2.848629343e-02
    #define DEFAULT_IMU_GYO_BIAS_Z +3.155488181e-02
    #define DEFAULT_IMU_GYO_BIAS1_X +1.734791977e-05
    #define DEFAULT_IMU_GYO_BIAS1_Y +7.474338667e-05
    #define DEFAULT_IMU_GYO_BIAS1_Z +1.935817782e-04
    #define DEFAULT_IMU_GYO_BIAS2_X +1.614000363e-05
    #define DEFAULT_IMU_GYO_BIAS2_Y +4.922826400e-06
    #define DEFAULT_IMU_GYO_BIAS2_Z +2.073770807e-06
    #define DEFAULT_IMU_GYO_BIAS3_X -1.107617798e-07
    #define DEFAULT_IMU_GYO_BIAS3_Y -8.979882523e-08
    #define DEFAULT_IMU_GYO_BIAS3_Z +7.555651492e-09


    #define DEFAULT_IMU_GYO_SCAL_X          +1.003664727518 //  0.000000098998 -0.000000011614
    #define DEFAULT_IMU_GYO_SCAL_Y          +1.015729576855 //  0.000000099538 +0.000000736745
    #define DEFAULT_IMU_GYO_SCAL_Z          +1.006703153482 //  0.000000098074 -0.000000024268
    #define DEFAULT_IMU_GYO_ALGN_XY         -0.002478664035 //  0.000097809549 -0.000000047043
    #define DEFAULT_IMU_GYO_ALGN_XZ         -0.030881252585 //  0.000088866729 -0.000000003382
    #define DEFAULT_IMU_GYO_ALGN_YX         -0.000031123970 //  0.000099997198 +0.000000000118
    #define DEFAULT_IMU_GYO_ALGN_YZ         -0.002441958545 //  0.000099916883 -0.000000017371
    #define DEFAULT_IMU_GYO_ALGN_ZX         +0.000028910630 //  0.000099552644 +0.000000008895
    #define DEFAULT_IMU_GYO_ALGN_ZY         +0.001887487809 //  0.000098064788 -0.000000013512
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Re: DIMU calibration

Postby epyonxero » Thu Apr 10, 2014 4:50 pm

Can someone tell me what might cause this type of oscillation in PH? I had the same problem with an AIMU board I started a thread about it but didnt get a reply, this data is from a new DIMU board. You can see motor output surging when in PH mode.

Screenshot (12).png
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Re: DIMU calibration

Postby epyonxero » Mon Apr 14, 2014 11:46 pm

Can someone from the development team please take a look at the issues above?
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Re: DIMU calibration

Postby JussiH » Tue Apr 15, 2014 1:06 am

epyonxero wrote:Can someone from the development team please take a look at the issues above?


We need to see the full log, the above plot could have a lot of possible causes; resonance of the frame causing noise in the gyro and accel is one guess. But could also just be a tuning issue. Or you could have a mixing setup error that causes 1 motor to work against the others. But its just guessing...

So pls post the full log and messages file, mixer table used and firmware version. A photo of the rig and more details about the construction can also give clues. I have said this before: The more data you provide, the easier it gets for us to help you out... :)

Id also ask you to post the data and description in a new thread in the tuning or troubleshooting section. Its likely that someone else could benefit from the discussion later, but it gets lost here... ;)
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Re: DIMU calibration

Postby epyonxero » Tue Apr 15, 2014 3:30 am

JussiH wrote:
epyonxero wrote:Can someone from the development team please take a look at the issues above?


We need to see the full log, the above plot could have a lot of possible causes; resonance of the frame causing noise in the gyro and accel is one guess. But could also just be a tuning issue. Or you could have a mixing setup error that causes 1 motor to work against the others. But its just guessing...

So pls post the full log and messages file, mixer table used and firmware version. A photo of the rig and more details about the construction can also give clues. I have said this before: The more data you provide, the easier it gets for us to help you out... :)

Id also ask you to post the data and description in a new thread in the tuning or troubleshooting section. Its likely that someone else could benefit from the discussion later, but it gets lost here... ;)


I started a thread about this same issue with an AIMU board back in March but it was ignored which is why this time with a DIMU board I posted here so that maybe someone would see it.

Original AIMU thread with log: viewtopic.php?f=36&t=3030
FW: aqv6.9.r340.b1628-rev1

Log from DIMU flight today: https://dl.dropboxusercontent.com/u/2317679/029-AQL.LOG
FW: aqv7.0.r372.b1704-hwv6.1-dimu1.1

Same mixer for both. This is the default Hex+ but with the motors reversed.
Screen Shot 2014-04-14 at 9.28.03 PM.png
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Re: DIMU calibration

Postby chschmid » Tue Apr 15, 2014 5:41 am

Your log looks weired. Did you ever try a standard mixing table with the motors not reversed? All mots connected right?
Did you balance your props? Could you post a pict of your copter or a vid of this flight. It seems that you have a lot of vibs. Your ACCx is going over 5! Ok would be between 0.5 and 1. Same for ACCy.

Cheers
Christof
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Re: DIMU calibration

Postby teramax » Wed Apr 16, 2014 6:44 am

just a simple question to all of you using the DIMU by now, "did you get a perfect horizon after calculation" and without TARE?
And dont beat me if i missed that point somewere but does the TARE funktion change something inside the DIMU board also?

Did calibrate 4 Boards till now, used the QCG with the DIMU modification, sent the files to other people and they did the cal for me but whatever i do the boards are never perfect level without TARE.

Next step 1, i build a freezing box with a fixed "heat up stand" to get 100% sure the board is perfect level also while static logging. Will see if this changes the outcomming.
Next Step 2, comparing onboard params calculated, default, calculated + tare, tare only just to be clear what is when written :)
somehow everything can fly
http://www.youtube.com/user/ter4m4x
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Re: DIMU calibration

Postby joebar.rc » Wed Apr 16, 2014 6:59 am

Yes every time, I did 5 calibrations so far and all came out leveled. The tare itself does nothing in the dimu, the EEPROM store function is no active so it only zero's specific params in the current loaded config.
(Which btw isn't stored either until you use a save to rom obviously)
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Re: DIMU calibration

Postby s_sergiu » Wed Apr 16, 2014 10:29 am

I just loaded last firmware 376 and now we can save in DIMU's EEPROM as well.
Question: is TARE overwriting some calibration parameters (if DIMU calibration was already done and saved in to flash) after using QGC to store TARE values in permanent memory ?
Sergiu
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