2020-02-04, 05:05 AM
(2020-02-04, 03:58 AM)seandepagnier Wrote: 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?
This is a IMU from spark fun ( https://www.sparkfun.com/products/13762 ). I"m not sure what caused this and after rebooting the PI during the race the problem may have gone away but came back later. I cant reproduce this on the bench. The plots are of the from imu.heel, imu.pitch imu.roll, I could not remember the what to plot. I'll get imu.gyro imu.compass next time. Hopefully while it is sitting on the bench this week instead of in the boat next week. I also have a older Adifruit 9DOF that I'll try on a copy of this SD card to see if it behaves the same.