Random values w/ ArduIMU v3 (software ver. 1.9.8)
Opened this issue · 2 comments
GoogleCodeExporter commented
Initial steps:
1. ArduIMU + MediaTek GPS connected to PC using the FTDI cable
2. Loaded the ArduIMU software version 1.9.8 using Arduino IDE 1.0.1
3. Tested the output using the test software
Results:
The ArduIMU is stationary over the desk and the test software shows a cube
which keeps on rolling. I had to modify the ArduIMU code in order to get the
GPS data correctly ( AP_GPS_MTK16 GPS(&Serial); ) and I have corrected the
magnetic variation using the value provided by the web site in the code comment.
This is my configuration:
#define GPS_CONNECTION 0 // 0 for GPS pins, 1 for programming pins
// GPS Type Selection - Note Ublox or MediaTek is recommended. Support for
NMEA is limited.
#define GPS_PROTOCOL 4 // 1 - NMEA, 2 - EM406, 3 - Ublox, 4 -- MediaTek
// Enable Air Start uses Remove Before Fly flag - connection to pin 6 on
ArduPilot
#define ENABLE_AIR_START 0 // 1 if using airstart/groundstart signaling, 0 if
not
#define GROUNDSTART_PIN 8 // Pin number used for ground start signal
(recommend 10 on v1 and 8 on v2 hardware)
/*Min Speed Filter for Yaw drift Correction*/
#define SPEEDFILT 2 // >1 use min speed filter for yaw drift cancellation
(m/s), 0=do not use speed filter
/*For debugging propurses*/
#define PRINT_DEBUG 0 //Will print Debug messages
//OUTPUTMODE=1 will print the corrected data, 0 will print uncorrected data of
the gyros (with drift), 2 will print accelerometer only data
#define OUTPUTMODE 1
#define PRINT_DCM 1 //Will print the whole direction cosine matrix
#define PRINT_ANALOGS 0 //Will print the analog raw data
#define PRINT_EULER 1 //Will print the Euler angles Roll, Pitch and Yaw
#define PRINT_GPS 1 //Will print GPS data
#define PRINT_MAGNETOMETER 1 //Will print Magnetometer data (if
magnetometer is enabled)
// *** NOTE! To use ArduIMU with ArduPilot you must select binary output
messages (change to 1 here)
#define PRINT_BINARY 0 //Will print binary message and suppress ASCII messages
(above)
// *** NOTE! Performance reporting is only supported for Ublox. Set to 0 for
others
#define PERFORMANCE_REPORTING 0 //Will include performance reports in the
binary output ~ 1/2 min
/* Support for optional magnetometer (1 enabled, 0 dissabled) */
#define USE_MAGNETOMETER 1 // use 1 if you want to make yaw gyro drift
corrections using the optional magnetometer
// Local magnetic declination (in degrees)
// I use this web : http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp
#define MAGNETIC_DECLINATION 2.382 // corrects magnetic bearing to true north
// Magnetometer OFFSETS (magnetometer calibration) (only for ArduIMU v3)
#define MAG_OFFSET_X 0
#define MAG_OFFSET_Y 0
#define MAG_OFFSET_Z 0
/* Support for optional barometer (1 enabled, 0 dissabled) */
#define USE_BAROMETER 0 // use 1 if you want to get altitude using the
optional absolute pressure sensor
#define ALT_MIX 50
Did they tested this software??!?!?
Thank you,
Alessandro Munari
Original issue reported on code.google.com by zerodefe...@gmail.com
on 25 Oct 2012 at 11:26
GoogleCodeExporter commented
Did your gps has a lock? i have the same issue without a gps lock.
Original comment by janzimme...@gmail.com
on 24 Dec 2012 at 1:35
GoogleCodeExporter commented
I have the same problem here, does anybody fixed it?
Original comment by angelobe...@gmail.com
on 25 Dec 2013 at 5:36