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OpenMarine › Pypilot › General discussion v
MPU9250 heading is slowly drifting

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MPU9250 heading is slowly drifting
ddelorme Offline
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#21
2020-01-14, 11:18 PM
I am still experiencing this issue OP2 all current updates boat is level does not work.

this is some output if i run pypilot_calibration from cmd line.

Code:
failed to load pywavefront: 'MissingFunctionException' object has no attribute 'message'

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.175: Negative content width -9 (allocation 1, extents 5x5) while allocating gadget (node notebook, owner GtkNotebook)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.175: Negative content height -9 (allocation 1, extents 5x5) while allocating gadget (node notebook, owner GtkNotebook)

(pypilot_calibration:8710): Gtk-CRITICAL **: 16:09:58.176: gtk_box_gadget_distribute: assertion 'size >= 0' failed in GtkNotebook

(pypilot_calibration:8710): Gtk-CRITICAL **: 16:09:58.176: gtk_box_gadget_distribute: assertion 'size >= 0' failed in GtkNotebook

(pypilot_calibration:8710): Gtk-CRITICAL **: 16:09:58.176: gtk_box_gadget_distribute: assertion 'size >= 0' failed in GtkNotebook

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.177: Negative content width -2 (allocation 0, extents 1x1) while allocating gadget (node stack, owner GtkNotebook)
Traceback (most recent call last):
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.12-py3.7-linux-armv7l.egg/ui/autopilot_calibration.py", line 384, in onSizeGLBoatPlot
   self.boat_plot.reshape(event.GetSize().x, event.GetSize().y)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.12-py3.7-linux-armv7l.egg/ui/boatplot.py", line 185, in reshape
   glFrustum(-ar, ar, -0.5, 0.5, 2.0, 300.0)
 File "/usr/lib/python3/dist-packages/OpenGL/error.py", line 232, in glCheckError
   baseOperation = baseOperation,
OpenGL.error.GLError: GLError(
    err = 1281,
    description = b'invalid value',
    baseOperation = glFrustum,
    cArguments = (-0.0, 0.0, -0.5, 0.5, 2.0, 300.0)
)
Traceback (most recent call last):
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.12-py3.7-linux-armv7l.egg/ui/autopilot_calibration.py", line 384, in onSizeGLBoatPlot
   self.boat_plot.reshape(event.GetSize().x, event.GetSize().y)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.12-py3.7-linux-armv7l.egg/ui/boatplot.py", line 185, in reshape
   glFrustum(-ar, ar, -0.5, 0.5, 2.0, 300.0)
 File "/usr/lib/python3/dist-packages/OpenGL/error.py", line 232, in glCheckError
   baseOperation = baseOperation,
OpenGL.error.GLError: GLError(
    err = 1281,
    description = b'invalid value',
    baseOperation = glFrustum,
    cArguments = (-0.0, 0.0, -0.5, 0.5, 2.0, 300.0)
)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.219: Negative content width -17 (allocation 1, extents 9x9) while allocating gadget (node button, owner GtkButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.219: Negative content height -9 (allocation 1, extents 5x5) while allocating gadget (node button, owner GtkButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.220: Negative content width -1 (allocation 1, extents 1x1) while allocating gadget (node trough, owner GtkProgressBar)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.220: Negative content width -1 (allocation 1, extents 1x1) while allocating gadget (node border, owner GtkFrame)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.221: gtk_widget_size_allocate(): attempt to allocate widget with width 0 and height -1

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.221: Negative content height -5 (allocation 1, extents 3x3) while allocating gadget (node button, owner GtkToggleButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.227: Negative content width -17 (allocation 1, extents 9x9) while allocating gadget (node button, owner GtkButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.227: Negative content height -9 (allocation 1, extents 5x5) while allocating gadget (node button, owner GtkButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.230: Negative content width -17 (allocation 1, extents 9x9) while allocating gadget (node button, owner GtkButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.230: Negative content height -9 (allocation 1, extents 5x5) while allocating gadget (node button, owner GtkButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.233: Negative content width -17 (allocation 1, extents 9x9) while allocating gadget (node button, owner GtkButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.233: Negative content height -9 (allocation 1, extents 5x5) while allocating gadget (node button, owner GtkButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.236: Negative content width -1 (allocation 1, extents 1x1) while allocating gadget (node spinbutton, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.236: Negative content height -1 (allocation 1, extents 1x1) while allocating gadget (node spinbutton, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.236: for_size smaller than min-size (0 < 16) while measuring gadget (node entry, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.237: for_size smaller than min-size (0 < 16) while measuring gadget (node button, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.237: for_size smaller than min-size (0 < 16) while measuring gadget (node button, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-CRITICAL **: 16:09:58.237: gtk_box_gadget_distribute: assertion 'size >= 0' failed in GtkSpinButton

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.237: Negative content height -8 (allocation 0, extents 4x4) while allocating gadget (node entry, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.238: Negative content width -1 (allocation 1, extents 1x1) while allocating gadget (node spinbutton, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.238: Negative content height -1 (allocation 1, extents 1x1) while allocating gadget (node spinbutton, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.238: for_size smaller than min-size (0 < 16) while measuring gadget (node entry, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.239: for_size smaller than min-size (0 < 16) while measuring gadget (node button, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.239: for_size smaller than min-size (0 < 16) while measuring gadget (node button, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-CRITICAL **: 16:09:58.240: gtk_box_gadget_distribute: assertion 'size >= 0' failed in GtkSpinButton

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.240: Negative content height -8 (allocation 0, extents 4x4) while allocating gadget (node entry, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.241: Negative content width -1 (allocation 1, extents 1x1) while allocating gadget (node spinbutton, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.241: Negative content height -1 (allocation 1, extents 1x1) while allocating gadget (node spinbutton, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.241: for_size smaller than min-size (0 < 16) while measuring gadget (node entry, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.242: for_size smaller than min-size (0 < 16) while measuring gadget (node button, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.243: for_size smaller than min-size (0 < 16) while measuring gadget (node button, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-CRITICAL **: 16:09:58.243: gtk_box_gadget_distribute: assertion 'size >= 0' failed in GtkSpinButton

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.243: Negative content height -8 (allocation 0, extents 4x4) while allocating gadget (node entry, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.244: Negative content width -1 (allocation 1, extents 1x1) while allocating gadget (node spinbutton, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.244: Negative content height -1 (allocation 1, extents 1x1) while allocating gadget (node spinbutton, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.244: for_size smaller than min-size (0 < 16) while measuring gadget (node entry, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.246: for_size smaller than min-size (0 < 16) while measuring gadget (node button, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.246: for_size smaller than min-size (0 < 16) while measuring gadget (node button, owner GtkSpinButton)

(pypilot_calibration:8710): Gtk-CRITICAL **: 16:09:58.246: gtk_box_gadget_distribute: assertion 'size >= 0' failed in GtkSpinButton

(pypilot_calibration:8710): Gtk-WARNING **: 16:09:58.247: Negative content height -8 (allocation 0, extents 4x4) while allocating gadget (node entry, owner GtkSpinButton)
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seandepagnier Offline
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#22
2020-01-14, 11:42 PM
It is working still with python2 correct?

For python3 doesn't render the boat because of a bug in pywavefront...
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ddelorme Offline
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#23
2020-01-15, 04:10 PM
This is my op2 install on RPI4 it is all current as of yesterday. I changed the imu to make sure that was not the issue but no change.. it has been running for 12 hours with little change. pitch is off by about 12 deg but heel is off 90 deg. the number slowly oscillates between -145 and 15 deg on the heal. hitting boat is level does nothing. I did a check to see if i had more then one RTIMULib.ini only one.
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Sailoog Offline
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#24
2020-01-15, 04:19 PM
(2020-01-15, 04:10 PM)ddelorme Wrote: This is my op2 install on RPI4 it is all current as of yesterday. I changed the imu to make sure that was not the issue but no change..  it has been running for 12 hours with little change. pitch is off by about 12 deg but heel is off 90 deg. the number slowly oscillates between -145 and 15 deg on the heal. hitting boat is level does nothing. I did a check to see if i had more then one RTIMULib.ini only one.

Same here
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ddelorme Offline
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#25
2020-01-16, 04:57 PM
? same here "same setup no problem" or "same setup same problem"
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Sailoog Offline
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#26
2020-01-16, 05:08 PM
same setup same problem
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seandepagnier Offline
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#27
2020-01-16, 05:28 PM
Did you try running rtimulibdrive to see if the problem is in rtimulib2 or pypilot or somewhere else?
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Sailoog Offline
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#28
2020-01-16, 06:54 PM (This post was last modified: 2020-01-16, 06:57 PM by Sailoog.)
rtimulibdrive returns stable values:

value 1rate 101: : roll:-0.309687, pitch:-1.506959, yaw:80.975198
value 0rate 101: : roll:-0.293564, pitch:-1.527401, yaw:81.002280
value 1rate 100: : roll:-0.316760, pitch:-1.528041, yaw:81.057994
value 0rate 101: : roll:-0.314997, pitch:-1.498974, yaw:80.771768
value 1rate 101: : roll:-0.305800, pitch:-1.516042, yaw:81.000805
value 0rate 100: : roll:-0.309797, pitch:-1.542201, yaw:81.032517
value 1rate 100: : roll:-0.311155, pitch:-1.543622, yaw:81.026309
value 0rate 101: : roll:-0.301673, pitch:-1.506432, yaw:81.030277
value 1rate 100: : roll:-0.293735, pitch:-1.564458, yaw:80.962829
value 0rate 101: : roll:-0.300660, pitch:-1.530848, yaw:80.862528
value 1rate 101: : roll:-0.321200, pitch:-1.594006, yaw:80.798481
value 0rate 100: : roll:-0.333839, pitch:-1.599711, yaw:80.817776
value 1rate 100: : roll:-0.336110, pitch:-1.563190, yaw:80.951634
value 0rate 101: : roll:-0.350478, pitch:-1.584249, yaw:80.875812
value 1rate 100: : roll:-0.329388, pitch:-1.521089, yaw:80.924013
value 0rate 101: : roll:-0.336932, pitch:-1.548168, yaw:80.955275
value 1rate 101: : roll:-0.342709, pitch:-1.529527, yaw:80.881919
value 0rate 101: : roll:-0.316907, pitch:-1.549707, yaw:80.881925
value 1rate 101: : roll:-0.310421, pitch:-1.575391, yaw:80.868012
value 0rate 101: : roll:-0.295277, pitch:-1.551420, yaw:80.945733
value 1rate 101: : roll:-0.293900, pitch:-1.573405, yaw:80.841019
value 0rate 100: : roll:-0.320140, pitch:-1.526783, yaw:80.801780
value 1rate 101: : roll:-0.316498, pitch:-1.521269, yaw:80.999411
value 0rate 101: : roll:-0.301972, pitch:-1.546375, yaw:80.873272
value 1rate 101: : roll:-0.311741, pitch:-1.521462, yaw:80.918508
value 0rate 101: : roll:-0.307672, pitch:-1.531665, yaw:81.005306
value 1rate 101: : roll:-0.282373, pitch:-1.516774, yaw:80.890955
value 0rate 101: : roll:-0.303756, pitch:-1.502975, yaw:81.016815
value 1rate 101: : roll:-0.322419, pitch:-1.498940, yaw:81.017245
value 0rate 101: : roll:-0.314803, pitch:-1.536608, yaw:81.071163
value 1rate 101: : roll:-0.308038, pitch:-1.538249, yaw:81.108893
value 0rate 101: : roll:-0.318028, pitch:-1.549052, yaw:80.972084
value 1rate 101: : roll:-0.335468, pitch:-1.589224, yaw:81.020728
value 0rate 101: : roll:-0.341171, pitch:-1.564412, yaw:81.032633
value 1rate 101: : roll:-0.353518, pitch:-1.566361, yaw:81.043815
value 0rate 101: : roll:-0.338635, pitch:-1.563627, yaw:80.939354
value 1rate 101: : roll:-0.337559, pitch:-1.584792, yaw:80.940925

It seems that this is not a hardware issue because everybody is getting the same behavior.
It does not seem a rtimulib2 issue either.
I am afraid this is in pypilot side.

Have you tested the latest OP image?
Are you getting correct values?
Do you want me to do any test else?
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It Paradyske Offline
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#29
2020-01-16, 09:19 PM
(2020-01-16, 06:54 PM)Sailoog Wrote: rtimulibdrive returns stable values:

value 1rate 101: : roll:-0.309687, pitch:-1.506959, yaw:80.975198
value 0rate 101: : roll:-0.293564, pitch:-1.527401, yaw:81.002280
value 1rate 100: : roll:-0.316760, pitch:-1.528041, yaw:81.057994
value 0rate 101: : roll:-0.314997, pitch:-1.498974, yaw:80.771768
value 1rate 101: : roll:-0.305800, pitch:-1.516042, yaw:81.000805
value 0rate 100: : roll:-0.309797, pitch:-1.542201, yaw:81.032517
value 1rate 100: : roll:-0.311155, pitch:-1.543622, yaw:81.026309
value 0rate 101: : roll:-0.301673, pitch:-1.506432, yaw:81.030277
value 1rate 100: : roll:-0.293735, pitch:-1.564458, yaw:80.962829
value 0rate 101: : roll:-0.300660, pitch:-1.530848, yaw:80.862528
value 1rate 101: : roll:-0.321200, pitch:-1.594006, yaw:80.798481
value 0rate 100: : roll:-0.333839, pitch:-1.599711, yaw:80.817776
value 1rate 100: : roll:-0.336110, pitch:-1.563190, yaw:80.951634
value 0rate 101: : roll:-0.350478, pitch:-1.584249, yaw:80.875812
value 1rate 100: : roll:-0.329388, pitch:-1.521089, yaw:80.924013
value 0rate 101: : roll:-0.336932, pitch:-1.548168, yaw:80.955275
value 1rate 101: : roll:-0.342709, pitch:-1.529527, yaw:80.881919
value 0rate 101: : roll:-0.316907, pitch:-1.549707, yaw:80.881925
value 1rate 101: : roll:-0.310421, pitch:-1.575391, yaw:80.868012
value 0rate 101: : roll:-0.295277, pitch:-1.551420, yaw:80.945733
value 1rate 101: : roll:-0.293900, pitch:-1.573405, yaw:80.841019
value 0rate 100: : roll:-0.320140, pitch:-1.526783, yaw:80.801780
value 1rate 101: : roll:-0.316498, pitch:-1.521269, yaw:80.999411
value 0rate 101: : roll:-0.301972, pitch:-1.546375, yaw:80.873272
value 1rate 101: : roll:-0.311741, pitch:-1.521462, yaw:80.918508
value 0rate 101: : roll:-0.307672, pitch:-1.531665, yaw:81.005306
value 1rate 101: : roll:-0.282373, pitch:-1.516774, yaw:80.890955
value 0rate 101: : roll:-0.303756, pitch:-1.502975, yaw:81.016815
value 1rate 101: : roll:-0.322419, pitch:-1.498940, yaw:81.017245
value 0rate 101: : roll:-0.314803, pitch:-1.536608, yaw:81.071163
value 1rate 101: : roll:-0.308038, pitch:-1.538249, yaw:81.108893
value 0rate 101: : roll:-0.318028, pitch:-1.549052, yaw:80.972084
value 1rate 101: : roll:-0.335468, pitch:-1.589224, yaw:81.020728
value 0rate 101: : roll:-0.341171, pitch:-1.564412, yaw:81.032633
value 1rate 101: : roll:-0.353518, pitch:-1.566361, yaw:81.043815
value 0rate 101: : roll:-0.338635, pitch:-1.563627, yaw:80.939354
value 1rate 101: : roll:-0.337559, pitch:-1.584792, yaw:80.940925

It seems that this is not a hardware issue because everybody is getting the same behavior.
It does not seem a rtimulib2 issue either.
I am afraid this is in pypilot side.

Have you tested the latest OP image?
Are you getting correct values?
Do you want me to do any test else?

Same results here, cloned and build https://github.com/RPi-Distro/RTIMULib, and everything is stable.
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ddelorme Offline
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#30
2020-01-16, 11:09 PM
where is the code for pypilot i am confused about the different versions
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