(2021-07-27, 07:29 AM)fishy Wrote: Is your IMU tilt sensitive / corrected? I have a cheap MPU-9250/6500 that goes waaay of course in magnetic reading when I tilt the thing. With a 30 degree tilt I et a 90 degree variation in magnetic reading it is simply not useful sailing.
I presume so, because it steers all right for me, and I normally sail under heel. But I have no way to tell for sure. Any tests done on your workbench are without value: the only real test is on the boat. I've tried to heel the boat in the harbour, but even with the purchase of the whole mast length, I can only tilt it like five degrees.
(2021-07-27, 07:29 AM)fishy Wrote: Can you post a link to where you bought your sensor? There is so very little information about the differences between sensors (on the sites where I can find them) and I would really like a compass to be part of my setup...
I bought mine here https://www.dennisdeal.com/search?q=DD1216625 a while ago, but I would not rely on two shipments being from the same manufacturer or batch.
Having said all that, I also struggle getting consistent compass headings. For maintaining a heading the pypilot imu often works all right, but sometimes the boat slowly changes heading, and then I switch to wind mode, and then it corrects itself. Also, I changed my setup so it resets pypilot.conf at restart to a safe configuration, which includes the compass calibration data. A reliable HDM reading is another thing, which complcates gps/track following mode, and in that mode I typically need to change the compass offset for different headings, which is exactly what I would not expect to be required. For me, I blame my own setup, having the IMU strapped to the tiller pilot. I have all the parts to make a boatimu version only for HDM purposes, but so far this has not seen the light yet.