DIMU with very short full calibration results

[joebar.rc]

[afernan]

Calibration with DIMU
I´m trying to follow your instructions, but still some problems. I´m using command line.

- If I use the <cal,sim3, & cal_version=2.0> supplied by Menno from this post it fails in step3 and on. I´m using this command with only 1 static file:
cal --mag -p DIMU.params static1.LOG : din0.LOG

It goes well if I use old exe files.
Is it still valid using old cal, sim3 files?
Can we mix results from different dynamic files in different steps?

Attached the best results found. Are they useful?

STEP 1: MAE = 0.0006
STEP 2: MAE = 0.02, AVG = 9.80
STEP 3: MAE = 0.55, AVG = 1.93
STEp 4a: MAE = 0.18
STEp 4b: MAE = 0.11
STEp 5: MAE = 0.13
STEp 6: MAE = 1.82

[sandmen]

You are using the binary's from this thread?

[afernan]

Yes.

[hogster]

Hi all

Can I just confirm that to get past step 3 without it getting stuck in a loop (which is what mine is doing now), I need to download the files Menno posted here:

viewtopic.php?f=42&t=2813&start=10#p17081

They appear to be .exe files though – how do I use those on my Mac?

These are the values which caused the mag calculations to start looping ...


MAE: 0.0237059
AVG: 1.98528
lowMAE = 0.023706, n[0] = 0.000033
#define IMU_MAG_BIAS_X +3.580864193e-02
#define IMU_MAG_BIAS_Y -2.215527153e-03
#define IMU_MAG_BIAS_Z -5.915706104e-02
#define IMU_MAG_BIAS1_X -1.035584623e-04
#define IMU_MAG_BIAS1_Y -3.915437575e-05
#define IMU_MAG_BIAS1_Z +1.738318160e-04
#define IMU_MAG_BIAS2_X +9.171626288e-05
#define IMU_MAG_BIAS2_Y -2.285913228e-05
#define IMU_MAG_BIAS2_Z -9.210397261e-05
#define IMU_MAG_BIAS3_X +2.635885416e-06
#define IMU_MAG_BIAS3_Y -9.131014038e-08
#define IMU_MAG_BIAS3_Z -1.944534783e-06
#define IMU_MAG_SCAL_X +2.801508199e-02
#define IMU_MAG_SCAL_Y +8.191101717e-03
#define IMU_MAG_SCAL_Z +6.505807639e-02
#define IMU_MAG_SCAL1_X -6.495802860e-05
#define IMU_MAG_SCAL1_Y -9.653673602e-05
#define IMU_MAG_SCAL1_Z -1.778187829e-04
#define IMU_MAG_SCAL2_X +7.356665601e-05
#define IMU_MAG_SCAL2_Y +6.756844251e-05
#define IMU_MAG_SCAL2_Z +1.035732574e-04
#define IMU_MAG_SCAL3_X +2.044946997e-06
#define IMU_MAG_SCAL3_Y +7.655600456e-07
#define IMU_MAG_SCAL3_Z +2.108898718e-06
#define IMU_MAG_ALGN_XY -5.692055017e-02
#define IMU_MAG_ALGN_XZ +9.781556637e-02
#define IMU_MAG_ALGN_YX -5.907953562e-02
#define IMU_MAG_ALGN_YZ -5.275796960e-02
#define IMU_MAG_ALGN_ZX +3.078151250e-01
#define IMU_MAG_ALGN_ZY -1.579771072e-01
#define IMU_MAG_INCL -6.616999817e+01


Should I be ok to move onto the next step with those?

Many thanks,

David

[teramax]

i am with you Menno, baro alt hold works awesome indoors, in fakt gps outside is killing the baro performance a little

anyway, your quad performs very good with the big props on, would you share your pid´s for comparison with us?

[hogster]

Hmm I moved onto step 4a, but the MAE value jumped up and down from the start. After 100 loops it's currently reading:

1.443
1.436
1.440
1.395
1.421
1.445
1.434
1.418
1.423
1.452
1.446

It doesn't seem to be settling down towards any particular value, nor is it continuously decreasing either ...

I've tried restarting the calculation but it does much the same thing each time.

There seem to be some developments on the whole calibration side of things at the end of this thread:

viewtopic.php?f=42&t=3075&start=60

so I might just give up on the calibration for now ...

Any input is appreciated as always

Many thanks, David

[hogster]

Happy Easter everyone!

Does anyone have any recommendations for my next steps with the calibration, re: the above posts? Should I wait until the new firmware is developed?

Many thanks! David

[teramax]

Happy Eastern also to Every one.
I can tell ya, first load Jussis defaults, do the flat freeze and warmup log, do the dance.
For calculation ( are the new Sim in the qcg package already in cludet?) Make cal 1 and 2 like before, cal 3 whatch out we're it stops with nan, and repeat. But stop shortly before numbers came near the last run endet with nan. All other steps do like you made in the past with the IMU.
Watch out your numbers and horizon and don't forget the easter bunny came across this morning

[hogster]

Thanks for the reply! Sounds like you've had too many chocolate Easter bunnies though

Do my results above look ok? The values in step 4 didn't seem to be tending towards a stable value so I stopped it after 200 or so cycles – the result keeps floating up and down. Is this normal or does it point to a problem with my data?

Many thanks, David