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Re: [Paparazzi-devel] LisaL/Aspirin IMU Issues


From: Luke Barnett
Subject: Re: [Paparazzi-devel] LisaL/Aspirin IMU Issues
Date: Mon, 20 Feb 2012 10:57:22 +0800

Hi Felix,

Thanks for looking at this. I tried the code from the branch you created and it worked fine in a bench test.  I've also been running code in one of my own branches with the original fix I did and it's been working with no problems at all.

I'm still a little surprised no-one else has come across this issue. 

Cheers
Luke


On Fri, Feb 3, 2012 at 3:13 AM, Felix Ruess <address@hidden> wrote:
Hi Luke,

thanks a lot for reporting this!
I was just hoping that someone with more knowledge of the driver and
SPI internals could answer this. Antoine?

I created a pull request for your proposed fix:
https://github.com/paparazzi/paparazzi/pull/129

Maybe Bart and Christophe at TU Delft were seeing the same problem??

Cheers, Felix

On Mon, Jan 2, 2012 at 10:37 PM, Luke Barnett <address@hidden> wrote:
> I finally have tracked down the source of the problem. It would seem that
> periodically the data in the rx buffer gets offset by one, i.e. it starts at
> accel_rx_buf[2] instead of accel_rx_buf[1].  The strange thing is that this
> does not occur if I disable the magnetometers and read gyros and accels
> only. What I did to fix the issue is to call adxl345_clear_rx_buf() at the
> beginning of adxl_start_reading_data() (both functions are in
> stm32/mcu_periph/imu_aspirin_arch.c).
>
> With the modified code I have run it for several hours without any issues so
> it seems to work. I find it a little strange that no-one else has come
> across this same problem, which makes me worry that there is perhaps
> something else wrong specific to my hardware?
>
> Does anyone see any issues with the code changes I made? My experience with
> embedded programming is limited to say the least, so I'd appreciate it if
> anyone has any advice on this.
>
> Thanks
> Luke
>
>
>
> On Thu, Dec 22, 2011 at 11:15 PM, Cédric Marzer <address@hidden> wrote:
>>
>> It might be a stupid idea and you probably considered that already, but
>> who knows : " the time to failure was shorter each time" = I would check the
>> power supply…
>>
>>
>>
>> De : paparazzi-devel-bounces+spam1=address@hidden
>> [mailto:paparazzi-devel-bounces+spam1=address@hidden] De la part de
>> Luke Barnett
>> Envoyé : jeudi, 22. décembre 2011 10:31
>> À : address@hidden
>> Objet : Re: [Paparazzi-devel] LisaL/Aspirin IMU Issues
>>
>>
>>
>> Hi Heinrich,
>>
>>
>>
>> Thanks for the reply. The motors were not running, the board was actually
>> removed from the quadcopter and sitting on my desk. During the whole time it
>> was not touched or moved so I would expect minimal vibrations during this
>> time. Interestingly, over three successive times, (i unplugged the board for
>> 10 seconds, then powered it up again after each time) the time to failure
>> was shorter each time. This leads me to think it may be a failure related to
>> temperature, however, when looking at it today running the test_imu_aspirin
>> program it read incorrectly from the start. So not really sure what is going
>> on.
>>
>>
>>
>> Regards
>>
>> Luke
>>
>>
>>
>> Date: Tue, 20 Dec 2011 14:09:51 +0100
>> From: "Prof. Dr.-Ing. Heinrich Warmers" <address@hidden>
>> To: address@hidden
>> Subject: Re: [Paparazzi-devel] LisaL/Aspirin IMU Issues
>> Message-ID: <address@hidden>
>> Content-Type: text/plain; charset="us-ascii"; Format="flowed"
>>
>> Hello Banett,
>> some Questions:
>> Where the motor ruining? Then 5 to 20% full scale vibration is normal.
>> Is this a temperature problem ? Test it with cooling and hot air.
>> Sometimes the plastic of the mens  has large humidity and this results
>> in contact problems by the soldering and destroy the chips.
>> Regards
>> Heinrich
>>
>> Luke Barnett schrieb:
>>
>> > Hello Everyone,
>> >
>> > I'm new to paparazzi and have been trying to get a quadcopter with
>> > Lisa/L and Aspirin IMU working over the last few months. However, I
>> > have noticed that after a period of time that I the quadcopter would
>> > seemingly lose orientation. For example the pfd would suddenly change
>> > orientation even when the quadrotor was on the ground. Luckily this
>> > has only happened a few times whilst actually flying.
>> >
>> > I have been benchtesting the setup out of the airframe and have been
>> > able to replicate the issue quite easily by just leaving running on
>> > the bench. After a period of time (so far between 8 and 14 minutes run
>> > time) it occurs again and what I have notices is that the raw
>> > accelerometer readings go haywire around the same time. Prior to this
>> > everything seems to  be behaving normally. I've attached a screenshot
>> > of the logs to illustrate what is happening.
>> >
>> > Does anyone have any ideas what may be causing this?  Any help would
>> > be appreciated.
>> >
>> > Thanks and Regards
>> > Luke
>> >
>> >
>> >
>> > ------------------------------------------------------------------------
>> >
>> >------------------------------------------------------------------------
>> >
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>> >
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