2020-02-04, 03:58 AM
First of all, where did you get the IMU?
I am not sure if it is a bad imu bug it's difficult to tell from you screen shots.
Could you plot the raw sensors:
imu.accel imu.gyro imu.compass
Usually the gyro will be very high or wrong, and there is new code in pypilot to reset the imu if it detects this. I think it may come from a misaligned fifo. It might be possible to enhance the reliability of the driver by adding additional fields to the fifo to ensure the data is aligned. I am not sure if this is the issue for you ( all sensors wrong) or just the gyros are wrong.
If you restart pypilot does the problem go away for a while?
I am not sure if it is a bad imu bug it's difficult to tell from you screen shots.
Could you plot the raw sensors:
imu.accel imu.gyro imu.compass
Usually the gyro will be very high or wrong, and there is new code in pypilot to reset the imu if it detects this. I think it may come from a misaligned fifo. It might be possible to enhance the reliability of the driver by adding additional fields to the fifo to ensure the data is aligned. I am not sure if this is the issue for you ( all sensors wrong) or just the gyros are wrong.
If you restart pypilot does the problem go away for a while?