Pypilot

[Sailoog]

LSM9DS0 after 20 min

Code:

sphere fit [-4.2586061041856809, -3.8133114712781739, 2.3351774003567134, 43.379796511362024]
new bias fit [-4.0147716172766028, -3.2905107609445574, 2.3046543696766082, 43.432439121649672, 0.84390506868342652] 57.5548121362
fit [[-4.0147716172766028, -3.2905107609445574, 2.3046543696766082, 43.432439121649672, 0.84390506868342652], [-4.2586061041856809, -3.8133114712781739, 2.3351774003567134, 43.379796511362024], [-4.2586061041856809, -3.8133114712781739, 2.3351774003567134, 43.379796511362024, 1, 1]]
coverage 175.048161982
got new fit: [[-4.0147716172766028, -3.2905107609445574, 2.3046543696766082, 43.432439121649672, 0.84390506868342652], [-4.2586061041856809, -3.8133114712781739, 2.3351774003567134, 43.379796511362024], [-4.2586061041856809, -3.8133114712781739, 2.3351774003567134, 43.379796511362024, 1, 1]]
calibration: sphere bias difference 0.577674211934
[boatimu] cal result ([[-4.0147716172766028, -3.2905107609445574, 2.3046543696766082, 43.432439121649672, 0.84390506868342652], [-4.2586061041856809, -3.8133114712781739, 2.3351774003567134, 43.379796511362024], [-4.2586061041856809, -3.8133114712781739, 2.3351774003567134, 43.379796511362024, 1, 1]], [[32.54464158739919, -25.504702019913587, -5.168918306144248, 0.9503322466783362, -0.025852117124415337, -0.30980904747516386], [32.129384438561075, -25.977406285447362, -3.3661266064669557, 0.9494618323648202, -0.041759840811735977, -0.31097433236994965], [31.088635118504143, -26.992121838374846, -4.982080598954869, 0.95894999862706, -0.01004698250379127, -0.28137260662086133], [32.648282921103956, -25.340505725453433, -7.3248668447759755, 0.9514520722003186, -0.014551858204227892, -0.3074454982272419], [31.676753400747465, -26.70203434786689, -6.826096827787549, 0.9476120765147134, -0.05513817811978368, -0.3145867612445295], [-38.51544048394347, 21.442104062552218, -5.9263089819139285, -0.9747632489049315, 0.016275704274470632, -0.22250281827315166], [-6.090880193710327, -5.752400331497193, -40.8856810760498, -0.003980970632571914, -0.5995244257161447, -0.799263802783504], [-44.39240268707275, -5.644800238609314, -14.226880350112916, -0.5981231035826599, -0.6479427115516699, -0.4641872336569295], [33.79426557796094, -23.817935780033135, -5.247618684975496, 0.9533782022891047, 0.020915087783464216, -0.30105206692772324]])
[imu process] new cal (-4.0147716172766028, -3.2905107609445574, 2.3046543696766082)

And then

Code:

sphere fit [-4.1839982188711744, -3.746662468441289, 2.2667873746980667, 43.38661798086287]
new bias fit [-3.9389164175120226, -3.2129029410158427, 2.2328408018311174, 43.43809388713666, 0.84611158718553925] 57.7912295569
fit [[-3.9389164175120226, -3.2129029410158427, 2.2328408018311174, 43.43809388713666, 0.84611158718553925], [-4.1839982188711744, -3.746662468441289, 2.2667873746980667, 43.38661798086287], [-4.1839982188711744, -3.746662468441289, 2.2667873746980667, 43.38661798086287, 1, 1]]
insufficient change in bias
sphere fit [-4.1860031220224325, -3.7479515744894929, 2.2662084588645452, 43.38531346701282]
new bias fit [-3.9409133804595631, -3.2140460358894747, 2.2322356869992332, 43.436733416539369, 0.84611607708152214] 57.7917122042
fit [[-3.9409133804595631, -3.2140460358894747, 2.2322356869992332, 43.436733416539369, 0.84611607708152214], [-4.1860031220224325, -3.7479515744894929, 2.2662084588645452, 43.38531346701282], [-4.1860031220224325, -3.7479515744894929, 2.2662084588645452, 43.38531346701282, 1, 1]]
insufficient change in bias

And signalk_client localhost imu/compass_calibration says:

Code:

{"imu/compass_calibration": {"value": [[-4.015, -3.291, 2.305, 43.432, 0.844], [-4.259, -3.813, 2.335, 43.38], [-4.259, -3.813, 2.335, 43.38, 1.0, 1.0]]}}

And the points cloud fits quite well the red sphere, similar to MPU-9255

Does this means that all is working as expected? what about "calibration locked"?