Thanks Sean, it seems that drift has gone and alignment is working again. Now I get this error when calibrating and a fit is achieved:
Code:
Settings file RTIMULib.ini loaded
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete
Process Process-2:090598 roll 179.87547722303637 heading 277.6334899075731
Traceback (most recent call last):
File "/usr/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
self.run()
File "/usr/lib/python3.7/multiprocessing/process.py", line 99, in run
self._target(*self._args, **self._kwargs)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/calibration_fit.py", line 617, in CalibrationProcess
fit = FitCompass(compass_cal, compass_calibration, norm)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/calibration_fit.py", line 499, in FitCompass
fit = FitPointsCompass(p, compass_calibration, norm)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/calibration_fit.py", line 196, in FitPointsCompass
initial = vector.add(current[:3], vector.project(vector.sub(guess[:3], current[:3]), norm))
TypeError: 'map' object is not subscriptable
got signal 17 cleaning up
got signal 15 cleaning up
got signal 15 cleaning up
Process Process-1:
Process Process-3:
Traceback (most recent call last):
Traceback (most recent call last):
Traceback (most recent call last):
File "/usr/local/bin/pypilot_boatimu", line 11, in <module>
File "/usr/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
self.run()
File "/usr/lib/python3.7/multiprocessing/process.py", line 99, in run
self._target(*self._args, **self._kwargs)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/boatimu.py", line 147, in imu_process
time.sleep(t)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/boatimu.py", line 487, in cleanup
raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
load_entry_point('pypilot==0.14', 'console_scripts', 'pypilot_boatimu')()
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/boatimu.py", line 530, in main
File "/usr/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
self.run()
File "/usr/lib/python3.7/multiprocessing/process.py", line 99, in run
self._target(*self._args, **self._kwargs)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/signalk/pipeserver.py", line 157, in pipe_server_process
time.sleep(.1)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/boatimu.py", line 487, in cleanup
raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
boatimu.iteration()
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/boatimu.py", line 522, in iteration
time.sleep(dt)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/boatimu.py", line 487, in cleanup
got signal 17 cleaning up
KeyboardInterrupt
got signal atexit cleaning up
got signal 17 cleaning up
Error in atexit._run_exitfuncs:
Traceback (most recent call last):
File "/usr/lib/python3.7/multiprocessing/popen_fork.py", line 28, in poll
pid, sts = os.waitpid(self.pid, flag)
File "/usr/local/lib/python3.7/dist-packages/pypilot-0.14-py3.7-linux-armv7l.egg/pypilot/boatimu.py", line 487, in cleanup
raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
terminate imu process
terminate calibration process