IMU Not behaving correctly.

[yoenn]

Hello,

I'm a newcomer in the openplotter world, trying to set it up on my raspberry. I think I am facing the same kind of problem here when I try to calibrate my IMU. (pypilot running in "Enable IMU Only mode", I only connected the IMU to the raspberry)

Observations in the calibration "accel" tab:
- red points eventually turn green, but never yellow
- no debug messages in the bottom left window
- calibration age never resets (always correspond to the pypilot service boot time), gains remain to [[0.0, 0.0, 0.0, 1.0], 1.0]

I made sure calibration lock checkbox is unchecked. This is confirmed in the pypilot client app (imu.accel.calibration.lock is False. Also, imu.accel.calibration.log is empty, I don't know if it is a relevant information)

I did not test compass calibration yet (just noticed that I see a red disc and not a red cone). I also noted that no plot shows up in the pypilot "scope" app regardless of the checkbox I click in the left panel. Maybe this is expected?

My configuration: fresh install of openplotter v3 Starting 64 bits on a Raspberry 4 B (4 Gb RAM). Pypilot version is 3.2.13-stable, all other apps are up to date. I am using a ICM 20948 I just bought.

Apart from that, the IMU seems to react properly. No warning occurs when I run a system check.

This is what I see when I run a journalctl -u pypilot_boatimu:

juil. 17 19:09:34 openplotter systemd[1]: Started pypilot boatimu.
juil. 17 19:09:35 openplotter sudo[2737]: pi : PWD=/home/pi/.pypilot ; USER=root ; COMMAND=/usr/bin/chrt -po 0 2734
juil. 17 19:09:35 openplotter sudo[2740]: pi : PWD=/home/pi/.pypilot ; USER=root ; COMMAND=/usr/bin/chrt -pf 2 2736
juil. 17 19:09:35 openplotter sudo[2740]: pam_unix(sudoession): session opened for user root(uid=0) by (uid=1000)
juil. 17 19:09:35 openplotter sudo[2737]: pam_unix(sudoession): session opened for user root(uid=0) by (uid=1000)
juil. 17 19:09:35 openplotter sudo[2740]: pam_unix(sudoession): session closed for user root
juil. 17 19:09:35 openplotter pypilot_boatimu[2736]: Settings file RTIMULib.ini loaded
juil. 17 19:09:35 openplotter pypilot_boatimu[2736]: Detected ICM20948 at option address
juil. 17 19:09:35 openplotter pypilot_boatimu[2736]: Using fusion algorithm Kalman STATE4
juil. 17 19:09:35 openplotter pypilot_boatimu[2736]: min/max compass calibration not in use
juil. 17 19:09:35 openplotter pypilot_boatimu[2736]: Using ellipsoid compass calibration
juil. 17 19:09:35 openplotter pypilot_boatimu[2736]: Using accel calibration
juil. 17 19:09:35 openplotter sudo[2737]: pam_unix(sudoession): session closed for user root
juil. 17 19:09:35 openplotter sudo[2745]: pi : PWD=/home/pi/.pypilot ; USER=root ; COMMAND=/usr/bin/chrt -pi 0 2734
juil. 17 19:09:35 openplotter sudo[2745]: pam_unix(sudoession): session opened for user root(uid=0) by (uid=1000)
juil. 17 19:09:35 openplotter sudo[2745]: pam_unix(sudoession): session closed for user root
juil. 17 19:09:35 openplotter pypilot_boatimu[2736]: ICM-20948 init complete