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Bad IMU?
#11
(2020-02-19, 12:20 PM)It Paradyske Wrote:
(2020-02-04, 03:58 AM)seandepagnier Wrote: First of all, where did you get the IMU?

I am not sure if it is a bad imu bug it's difficult to tell from you screen shots.

Could you plot the raw sensors:
imu.accel   imu.gyro  imu.compass

Usually the gyro will be very high or wrong, and there is new code in pypilot to reset the imu if it detects this.   I think it may come from a misaligned fifo.   It might be possible to enhance the reliability of the driver by adding additional fields to the fifo to ensure the data is aligned.   I am not sure if this is the issue for you ( all sensors wrong)  or just the gyros are wrong.

If you restart pypilot does the problem go away for a while?
Hi Sean,

When did you commit that change to repair the misalignment?
Is it already in the last openplotter version?
Currently I have a problem with the mpu9250, after a couple of minutes (half an hour or so) there seems to be an oscillation, the compass is spinning all over the globe.

Would a mpu9255 be better?

I ll try to make a screenshot of the scope and check if the pull ups on the i2c lines.

I had the same problem with 9255 on my last passage. Sometimes it is had working well for whole day, but sometimes it starts "spinning"  several times in hour. All i did in order to restore correct readings - just had restarted pypilot service and everything worked fine until next incident...

I tried spare MPU, but with same results. I decided that there some kind of problems with power spikes or bad contact on soldering, so i'm waiting next season to test again...
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#12
I recently added a few commits to detect bad data from the imu and reset it, so I hope this issue is resolved since pypilot 0.15
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