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Re: [Paparazzi-devel] Aspirin IMU calibration

From: Bruzzlee
Subject: Re: [Paparazzi-devel] Aspirin IMU calibration
Date: Fri, 27 Jan 2012 16:54:13 +0100
User-agent: Mozilla/5.0 (Macintosh; Intel Mac OS X 10.7; rv:9.0) Gecko/20111222 Thunderbird/9.0.1

Hi Felix
Sorry. the screen shot was from a wrong measurement....
I think the acceleration calibration was successful (even if I still get the RuntimeWarning)

The ins_x and ins_y values in the Messages (ins_xd and ins_yd) are staying on 0.
The RAW data seem to be ok.
I think it has something to do with the Gyro settings.
See attached airframe.

Thx 4 help

On 27.01.12 16:23, Felix Ruess wrote:

@Eduardo: Why didn't you also use the neutrals you get from the
calibration? Should be better than trying to take the correct neutrals
"by hand" from the messages (e.g. the axes might not be 100% aligned
with the gravity vector).

@Bruzzlee: You already get a warning and the sens values are totally
different. It can't work properly, as you didn't move the imu. You
have to take measurements with the imu "turned on all sides" at least

Cheers, Felix

On Fri, Jan 27, 2012 at 3:32 PM, Bruzzlee<address@hidden>  wrote:
He all
thx 4 the answer

Stupid question to LisaM: Has the Aspirin to be upside or downside? ;-) The
sign of the Z-Axis on the Aspirin shows a circle with a dot, so I was
guessing that the IMU should be on top.

I managed to get my RAW datas by using the normal AP firmware and changing
the telemetry mode in the GCS Settings to RAW.
I got some values out of the script. See attachment.

The PFD is still rotating.....

Terminal output:
./ -i 1 -s ACCEL
initial guess : avg 7.19678733577 std 2.2245311935
RuntimeWarning: Number of calls to function has reached maxfev = 1400.
  warnings.warn(errors[info][0], RuntimeWarning)
optimized guess : avg 9.80925677574 std 0.00967142874765

<define name="ACCEL_X_NEUTRAL" value="-935"/>
<define name="ACCEL_Y_NEUTRAL" value="-851"/>
<define name="ACCEL_Z_NEUTRAL" value="-267"/>
<define name="ACCEL_X_SENS" value="8.13419611628" integer="16"/>
<define name="ACCEL_Y_SENS" value="7.73102782993" integer="16"/>
<define name="ACCEL_Z_SENS" value="29.0050445772" integer="16"/>

On Fri Jan 27 14:58:08 2012, Christoph Niemann wrote:


I got my File. But an idea: Perhaps the test program doesn't support
the xbee api? Or is it transparent? If it is using the api i would
suggest to connect directly to the UART.

Good luck


2012/1/27 Bruzzlee<address@hidden<mailto:address@hidden>>

Hi all
Has anyone successfully created a Aspirin IMU calibration file
according to this tutorial?


I've never received the calibration file from jobyrobotics so I
tried to create my own.

I tried "test_imu_aspirin" on lisa_m_1.0 board but then the Xbee
gets no data.

Any hint?

Thx Bruzzlee

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