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

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MPU9250 heading is slowly drifting
It Paradyske Offline
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#1
2020-01-06, 09:39 PM
Hi, thanks for all the great work!
I am currently testing with a MPU9250 connected, and there seems to be a problem with an offset?
In the window "alignment" from Calibration PyPilot, the boat is slowly spinning in all 3 axis.
Pitch, Roll, Heel and Heading slowly drift with a couple of degrees per minute.
Image is that of 16-12-2019, both on Pi3 and Pi4 I see the same drifting problem.



On the old image (Openplotter 1.0.0) on the same hardware (pi3): the thing is stable.
Are more people experiencing this?

Regards
Hans
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seandepagnier Offline
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#2
2020-01-07, 12:00 AM
can you plot the gyro and gyrobias values?

It could be that the gyrobias is large and has not averaged out yet which could take a while. Maybe the openplotter setup has run for longer?
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It Paradyske Offline
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#3
2020-01-07, 03:33 PM
(2020-01-07, 12:00 AM)seandepagnier Wrote: can you plot the gyro and gyrobias values?

It could be that the gyrobias is large and has not averaged out  yet which could take a while.   Maybe the openplotter setup has run for longer?

The gyrobias is varying slowly it seems...

   

Upper lines are the bias.
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It Paradyske Offline
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#4
2020-01-07, 08:13 PM
(2020-01-07, 03:33 PM)It Paradyske Wrote:
(2020-01-07, 12:00 AM)seandepagnier Wrote: can you plot the gyro and gyrobias values?

It could be that the gyrobias is large and has not averaged out  yet which could take a while.   Maybe the openplotter setup has run for longer?

The gyrobias is varying slowly it seems...



Upper lines are the bias.

Correction, there is a third one, much lower also, is that correct?
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seandepagnier Offline
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#5
2020-01-07, 10:21 PM
Is the boat still spinning? It seems the gyrobias is not the problem.
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It Paradyske Offline
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#6
2020-01-08, 07:13 AM (This post was last modified: 2020-01-08, 03:48 PM by It Paradyske.)
(2020-01-07, 10:21 PM)seandepagnier Wrote: Is the boat still spinning?    It seems the gyrobias is not the problem.

No the "boat" is stationairy on my desk.

Is there a way to reset the compass calibration? Only pressing clear does not seem to work.

The calibration remains on 0.0, 0.0, 0.0, 30.0, 0.0
The red part in the plot is a disc, not a cone.
It looks like the pypilot.conf is not read at startup.
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ddelorme Offline
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#7
2020-01-08, 12:14 PM (This post was last modified: 2020-01-08, 12:28 PM by ddelorme.)
(2020-01-06, 09:39 PM)It Paradyske Wrote: Hi, thanks for all the great work!
I am currently testing with a MPU9250 connected, and there seems to be a problem with an offset?
In the window "alignment" from Calibration PyPilot, the boat is slowly spinning in all 3 axis.
Pitch, Roll, Heel and Heading slowly drift with a couple of degrees per minute.
Image is that of 16-12-2019, both on Pi3 and Pi4 I see the same drifting problem.



On the old image (Openplotter 1.0.0) on the same hardware (pi3): the thing is stable.
Are more people experiencing this?

Regards
Hans
I have the same issue pypilot ver 2.0.4 previous version no problem.. picking autopilot crashes rpi. my spinning is much faster. and in the scope there is a definite oscillation very regular.
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seandepagnier Offline
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#8
2020-01-08, 08:06 PM
To be clear, this is an issue only with openplotter correct? Can you try the latest tinypilot image?

It's very possible the wrong rtimulib2 is being used or something is interfering with it.

It would be very useful if you can find the last version which worked. If a previous version worked it should be possible to find the problem using git-bisect.
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ddelorme Offline
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#9
2020-01-08, 08:16 PM (This post was last modified: 2020-01-08, 09:00 PM by ddelorme.)
The last version worked i did the update via Openplotter yesterday . TinyPilot?
Never mind i just did a apt update and what ever was installed corrected the issue. I will try the autopilot now
Well engaged the autopilot and moved the activator a few time then it crashed.

Code:
Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103096] Internal error: Oops: 206 [#1] SMP ARM

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103885] Process kworker/1:0 (pid: 5058, stack limit = 0x06c3de97)

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103897] Stack: (0xd5c2fe78 to 0xd5c30000)

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103911] fe60:                                                       d5c2fe94 d5c2fe88

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103927] fe80: ef9b25d4 00000000 d5c2feb4 ef9b28f0 ef9b25f0 ef9b28f0 efb76b00 ef9b2908

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103944] fea0: ef9b2000 00000000 d5c2fedc d5c2feb8 bf571cdc bf4b7fa0 dbc46900 efb76b30

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103959] fec0: eff32a40 eff35d00 00000000 efb76b34 d5c2feec d5c2fee0 bf571d18 bf571c70

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103975] fee0: d5c2fefc d5c2fef0 bf4b702c bf571d04 d5c2ff34 d5c2ff00 c023db40 bf4b700c

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.103990] ff00: 40000093 eff32a40 eff32a40 eff32a40 dbc46914 eff32a40 eff32a58 c1003d00

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.104005] ff20: 00000008 dbc46900 d5c2ff7c d5c2ff38 c023de84 c023d9dc d5c2ff5c d5c2ff48

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.104022] ff40: c099d2dc c1003d00 c10963d6 d5c2e038 d5c2ff7c d5e2fe80 d5cb2ec0 00000000

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.104037] ff60: dbc46900 c023de28 d5e2fe9c dc55fe74 d5c2ffac d5c2ff80 c0244170 c023de34

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.104052] ff80: c0204378 d5cb2ec0 c0244038 00000000 00000000 00000000 00000000 00000000

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.104068] ffa0: 00000000 d5c2ffb0 c02010ac c0244044 00000000 00000000 00000000 00000000

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.104082] ffc0: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.104097] ffe0: 00000000 00000000 00000000 00000000 00000013 00000000 00000000 00000000

Message from syslogd@openplotter at Jan  8 13:41:14 ...
kernel:[ 1569.104402] Code: e1a06005 eb539326 e2853028 e1590003 (e5955028)

The last thing i did was resize the screen but when i did a reboot it crashed rather with in a minute. rebooted again a quickly change back to compass only. it seems stable now.
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Sailoog Offline
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#10
2020-01-09, 11:06 AM (This post was last modified: 2020-01-09, 11:06 AM by Sailoog.)
Can you describe your openplotter installation? from our images? from Raspbian? from another debian flavor?

use openplotter-settings to update openplotter apps, do not use apt.
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