Pypilot

[Sailoog]

MPU-9255

Changes pulled and after 8-9 min I got this from boatimu.py

Code:

sphere fit [13.036294570063996, 12.182777511673979, 6.2503562940638648, 43.044422489029124]
new bias fit [13.077897660457191, 12.156202971873087, 6.2192212503316142, 43.053658209618142, 0.84627415006863116] 57.8087085845
fit [[13.077897660457191, 12.156202971873087, 6.2192212503316142, 43.053658209618142, 0.84627415006863116], [13.036294570063996, 12.182777511673979, 6.2503562940638648, 43.044422489029124], [13.036294570063996, 12.182777511673979, 6.2503562940638648, 43.044422489029124, 1, 1]]
coverage 275.696717681
got new fit: [[13.077897660457191, 12.156202971873087, 6.2192212503316142, 43.053658209618142, 0.84627415006863116], [13.036294570063996, 12.182777511673979, 6.2503562940638648, 43.044422489029124], [13.036294570063996, 12.182777511673979, 6.2503562940638648, 43.044422489029124, 1, 1]]
calibration: sphere bias difference 0.0583644947216
[boatimu] cal result ([[13.077897660457191, 12.156202971873087, 6.2192212503316142, 43.053658209618142, 0.84627415006863116], [13.036294570063996, 12.182777511673979, 6.2503562940638648, 43.044422489029124], [13.036294570063996, 12.182777511673979, 6.2503562940638648, 43.044422489029124, 1, 1]], [[50.84063969706502, 28.940530291718996, 13.450795419508106, 0.9922897178364136, -0.017134609040870035, -0.12271828654523526], [4.929141807365418, -7.699411305618285, 42.81844530944824, -0.19279560290807912, 0.07904961569285812, 0.9780461545187138], [-2.112546226978302, -15.107414245605469, -23.272947502136233, -0.0320811320399137, -0.8159363497034229, -0.5771745519838487], [-28.31768165588379, 19.123852729797363, -5.253757033348084, -0.9337312268101186, -0.2819024024032991, -0.2037641068797005], [32.72612853044185, 28.261176693773027, 41.00647221563411, 0.020796821224277378, 0.020542064379493016, 0.9995183128097499], [39.00846347748487, 20.104050213239752, 40.64284848936345, 0.058694378303795494, 0.05253287297348549, 0.9968308944268046], [18.1705472032547, 35.956125030517576, 41.621533959198, 0.04536547966128558, 0.0011948038755751353, 0.9988755663449176], [38.972356483570096, 8.395253951021672, 40.91653586987687, 0.030606223886385377, -0.00253482134241404, 0.9995199463916534], [38.951448712004165, 3.5548279596004417, 39.696838488947975, 0.05628371725908813, -0.02750629783911274, 0.9980205969334773], [36.053769131208384, 0.9729070583743415, 40.92697860279491, 0.027450048832508345, 0.006140948857535157, 0.9996000177103794], [13.822440547943115, 34.8001655960083, 42.611710472106935, -0.047753089198382885, -0.0187028000808233, 0.9984402216647227], [51.685330956219545, 31.165211790467946, 11.998223080748083, 0.997003993445436, -0.03525595503920057, -0.06804145529680336], [7.862888630297537, 33.05363505938545, 43.37010812352306, 0.04454311407093744, -0.03135918812918692, 0.998132492496968]])
[imu process] new cal (13.077897660457191, 12.156202971873087, 6.2192212503316142)

And after few minutes more I got this

Code:

sphere fit [12.977383545927676, 12.136182736879547, 6.316029497720149, 43.0119847352592]
new bias fit [13.012850804146554, 12.105987507330736, 6.2917992178422422, 43.017758820076217, 0.84507345686026769] 57.6798070262
fit [[13.012850804146554, 12.105987507330736, 6.2917992178422422, 43.017758820076217, 0.84507345686026769], [12.977383545927676, 12.136182736879547, 6.316029497720149, 43.0119847352592], [12.977383545927676, 12.136182736879547, 6.316029497720149, 43.0119847352592, 1, 1]]
insufficient change in bias

sphere fit [12.977696535773063, 12.13641438036222, 6.3156800594029026, 43.0121572060993]
new bias fit [13.013166430960647, 12.106215541376754, 6.2914461182257604, 43.017933483528942, 0.84507882177275218] 57.6803819615
fit [[13.013166430960647, 12.106215541376754, 6.2914461182257604, 43.017933483528942, 0.84507882177275218], [12.977696535773063, 12.13641438036222, 6.3156800594029026, 43.0121572060993], [12.977696535773063, 12.13641438036222, 6.3156800594029026, 43.0121572060993, 1, 1]]
insufficient change in bias

And signalk_client localhost imu/compass_calibration says:

Code:

{"imu/compass_calibration": {"value": [[13.078, 12.156, 6.219, 43.054, 0.846], [13.036, 12.183, 6.25, 43.044], [13.036, 12.183, 6.25, 43.044, 1.0, 1.0]]}}

Trying now with LSM9DS0

What we should do to calibrate the IMU? moving it around?

I though that "calibration locked" would be auto-enabled when a fix is done. Does that means that "calibration locked" should be enabled manually when you are happy with calibration?

Is it always calibrating until you enable "calibration locked"?

Last day I got a fix with LSM9DS0 after 40 min but the red sphere did not fit the points cloud very well, would it have kept calibrating until improving the fit?