2020-07-25, 06:24 PM
Hi Sean,
thanks for your reply. I actually have made some progress.
well the project is still in an early experimental stage and i have not yet pushed it to a public server. It is also very limited to my actuator setup. Probably not much use for other. If I ever get it steering my boat I will be happy to share it.
The redis server is there mostly because I started out with it and I had the need that multiple modules need to share data. It is very simple to use, has a small footprint (less than 5%cpu on a Pi Zero) and has well tested clients in all important environments.
For the calibration, yesterday in the evening I possibly got the accelerometer calibration working. It showed a small age after I moved it in all 6 directions and reported a fix (cant remember the exact message), but after a while it then reports
imu.accel.calibration.log = need more range 0.0024124235272411365
I then did move the sensor again to all 6 directions but the age did not reset again. It however reported having a fix again, which disappeard after a while.
I then mounted the sensor and apparently got the leveling also working by doing pypilot_client imu.alignmentCounter = 100 (found this in the code of the gui). Now my roll and pitch looks correct. The compass is way off.
I took the boat out today for sailing and left pypilot_boatimu running. The trip was mostly the same direction, but at start and beginning I did turn around quite a bit. Also underway the boat rolled probably +-30 deg.
However the compass calibration has not find its fix:
imu.compass = [-100.986, -67.953, -70.107]
imu.compass.calibration = [[-39.542, -89.242, -56.589, 66.502, 74.224], [0.0 ...
imu.compass.calibration.age = 1h 13m 7s
imu.compass.calibration.locked = False
imu.compass.calibration.log = 0d fit, insufficient data 0.6094553698651597 1 ...
imu.compass.calibration.sigmapoints = [[-100.916, -68.843, -69.768], [-100.8 ...
I guess I will try again and see if it can find its fix. Next trip probably on Monday.
thanks for your reply. I actually have made some progress.
well the project is still in an early experimental stage and i have not yet pushed it to a public server. It is also very limited to my actuator setup. Probably not much use for other. If I ever get it steering my boat I will be happy to share it.
The redis server is there mostly because I started out with it and I had the need that multiple modules need to share data. It is very simple to use, has a small footprint (less than 5%cpu on a Pi Zero) and has well tested clients in all important environments.
For the calibration, yesterday in the evening I possibly got the accelerometer calibration working. It showed a small age after I moved it in all 6 directions and reported a fix (cant remember the exact message), but after a while it then reports
imu.accel.calibration.log = need more range 0.0024124235272411365
I then did move the sensor again to all 6 directions but the age did not reset again. It however reported having a fix again, which disappeard after a while.
I then mounted the sensor and apparently got the leveling also working by doing pypilot_client imu.alignmentCounter = 100 (found this in the code of the gui). Now my roll and pitch looks correct. The compass is way off.
I took the boat out today for sailing and left pypilot_boatimu running. The trip was mostly the same direction, but at start and beginning I did turn around quite a bit. Also underway the boat rolled probably +-30 deg.
However the compass calibration has not find its fix:
imu.compass = [-100.986, -67.953, -70.107]
imu.compass.calibration = [[-39.542, -89.242, -56.589, 66.502, 74.224], [0.0 ...
imu.compass.calibration.age = 1h 13m 7s
imu.compass.calibration.locked = False
imu.compass.calibration.log = 0d fit, insufficient data 0.6094553698651597 1 ...
imu.compass.calibration.sigmapoints = [[-100.916, -68.843, -69.768], [-100.8 ...
I guess I will try again and see if it can find its fix. Next trip probably on Monday.