2020-02-19, 12:20 PM
(2020-02-04, 03:58 AM)seandepagnier Wrote: First of all, where did you get the IMU?Hi Sean,
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?
When did you commit that change to repair the misalignment?
Is it already in the last openplotter version?
Currently I have a problem with the mpu9250, after a couple of minutes (half an hour or so) there seems to be an oscillation, the compass is spinning all over the globe.
Would a mpu9255 be better?
I ll try to make a screenshot of the scope and check if the pull ups on the i2c lines.