I think we need to add this line to the top of I2CBus.cpp:

#include <unistd.h>

Hi,
I am trying to install minimu9-ahrs on my raspberry pi3 but I find some error with "eigen" :

Package eigen3 was not found in the pkg-config search path. Perhaps you should add the directory containing eigen3.pc'
to the PKG_CONFIG_PATH environment variable
No package 'eigen3' found
g++ -I. -Wall --std=gnu++11 -O2 -MD -MP vector.h -o vector.h.gch
vector.h:5:10: fatal error: Eigen/Core: Aucun fichier ou dossier de ce type
#include <Eigen/Core>
^~~~~~~~~~~~
compilation terminated.
make: *** [Makefile:37: vector.h.gch] Error 1`

could you please help me resolving this problem ? thanks

Thanks for this awesome project! This is a great demo and I really appreciate your tutorial.

I just wanted to let you know that for some reason when I run minimu9-ahrs-calibrate after the message "Optimizing calibration" the program appears to get stuck for me. It appears that the cause is that the "while True" condition in "tune" of "minimu9-ahrs-calibrator" is never satisfied.

In a future rev it might be a nice idea to terminate this loop after a certain amount of time or if the calibration results are within a certain (adjustable) tolerance. Also some in line comments would be a great bonus for easier debugging.

So today I took my minimu9-ahrs-based system up for a test flight and discovered that what looks good sitting at your desk doesn't always work as you expect in the real world. It seems that we need to include some additional processing to compensate for inertial factors like centripetal force. When I turned the plane the IMU initially registered the turn but quickly "leveled out" as the turn was sustained. The accelerometer sensed "down" as being perpendicular to the wings rather than gravity.

A bit of googling indicates that this kind of compensation is required for IMU / AHRS systems in fixed-wing aircraft. Apparently the magnetometer can help by indicating the rate of turn. A GPS can provide groundspeed and change in velocity values that can further assist in the correction. There appears to be several methods for doing this. There's an outline available here: http://wiki.paparazziuav.org/wiki/Subsystem/ahrs

I'm not mathematically literate enough to make my way through the complementary quaternion algorithms. Anyone feel up to the challenge? I'm more than happy to be the test pilot.

Hello, I have followed the steps of the tutorial but just when I run "minimu9-ahrs --mode raw" this output "segmentation fault (core dumped)". How do I solve this?
Also when executing "minimu9-ahrs-calibrate -b / dev / i2c-1" this other problem comes out "To calibrate the magnetometer, start rotating the IMU through
As many different orientations as possible.
Reading data ... Segmentation fault (core dumped)
 Done
Warning: Only 0 readings were provided.
Optimizing calibration ... Traceback (most recent call last):
  File "/ usr / bin / minimu9-ahrs-calibrator", line 147, in
    Run ()
  File "/ usr / bin / minimu9-ahrs-calibrator", line 95, in run
    Cal1 = guess (raw_readings)
  File "/ usr / bin / minimu9-ahrs-calibrator", line 127, in guess
    Guess.extend (percentile_to_value (values, 1, 99))
  File "/ usr / bin / minimu9-ahrs-calibrator", line 18, in percentile_to_value
    Return [list [int (p / 100.0 * (len (list) -1))] for p in percentiles]
IndexError: list index out of range "

I am using:
MinIMU-9 v3 and Raspberry Pi 3.

Thanks in advance.

Hi,

While running the 'sudo make install' I get this error message stated in the title.
I installed all the libraries, can you help me out what the problem is?

Thanks in advance

I attempted to compile on ubuntu after install the necessary libraries as specified, but it results in a linking error:

ubuntu@arm:~/minimu9-ahrs$ make
g++  -I. -Wall --std=c++0x -O3 -Wno-psabi -MD -MP vector.h -o vector.h.gch
In file included from ./Eigen/Core:248:0,
                 from vector.h:4:
./Eigen/src/Core/util/Memory.h: In function ‘Index Eigen::internal::first_aligned(const Scalar*, Index)’:
./Eigen/src/Core/util/Memory.h:449:48: warning: typedef ‘Packet’ locally defined but not used [-Wunused-local-typedefs]
   typedef typename packet_traits<Scalar>::type Packet;
                                                ^
In file included from ./Eigen/Core:324:0,
                 from vector.h:4:
./Eigen/src/Core/products/SelfadjointMatrixVector.h: In static member function ‘static void Eigen::internal::selfadjoint_matrix_vector_product<Scalar, Index, StorageOrder, UpLo, ConjugateLhs, ConjugateRhs, Version>::run(Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Scalar)’:
./Eigen/src/Core/products/SelfadjointMatrixVector.h:38:44: warning: typedef ‘RealScalar’ locally defined but not used [-Wunused-local-typedefs]
   typedef typename NumTraits<Scalar>::Real RealScalar;
                                            ^
In file included from ./Eigen/QR:26:0,
                 from ./Eigen/SVD:4,
                 from ./Eigen/Geometry:8,
                 from vector.h:5:
./Eigen/src/QR/HouseholderQR.h: In function ‘void Eigen::internal::householder_qr_inplace_blocked(MatrixQR&, HCoeffs&, typename MatrixQR::Index, typename MatrixQR::Scalar*)’:
./Eigen/src/QR/HouseholderQR.h:235:41: warning: typedef ‘RealScalar’ locally defined but not used [-Wunused-local-typedefs]
   typedef typename MatrixQR::RealScalar RealScalar;
                                         ^
g++  -I. -Wall --std=c++0x -O3 -Wno-psabi -MD -MP  -c -o minimu9-ahrs.o minimu9-ahrs.cpp
g++  -I. -Wall --std=c++0x -O3 -Wno-psabi -MD -MP  -c -o I2CBus.o I2CBus.cpp
g++  -I. -Wall --std=c++0x -O3 -Wno-psabi -MD -MP  -c -o L3G.o L3G.cpp
g++  -I. -Wall --std=c++0x -O3 -Wno-psabi -MD -MP  -c -o LSM303.o LSM303.cpp
g++  -I. -Wall --std=c++0x -O3 -Wno-psabi -MD -MP  -c -o MinIMU9.o MinIMU9.cpp
g++ -lboost_program_options  minimu9-ahrs.o I2CBus.o L3G.o LSM303.o MinIMU9.o   -o minimu9-ahrs
minimu9-ahrs.o: In function `boost::program_options::typed_value<std::string, char>::xparse(boost::any&, std::vector<std::string, std::allocator<std::string> > const&) const':
minimu9-ahrs.cpp:(.text._ZNK5boost15program_options11typed_valueISscE6xparseERNS_3anyERKSt6vectorISsSaISsEE[_ZNK5boost15program_options11typed_valueISscE6xparseERNS_3anyERKSt6vectorISsSaISsEE]+0x1a): undefined reference to `boost::program_options::validate(boost::any&, std::vector<std::string, std::allocator<std::string> > const&, std::string*, int)'
minimu9-ahrs.o: In function `boost::program_options::typed_value<std::string, char>::name() const':
minimu9-ahrs.cpp:(.text._ZNK5boost15program_options11typed_valueISscE4nameEv[_ZNK5boost15program_options11typed_valueISscE4nameEv]+0xf6): undefined reference to `boost::program_options::arg'
minimu9-ahrs.cpp:(.text._ZNK5boost15program_options11typed_valueISscE4nameEv[_ZNK5boost15program_options11typed_valueISscE4nameEv]+0xfa): undefined reference to `boost::program_options::arg'
minimu9-ahrs.cpp:(.text._ZNK5boost15program_options11typed_valueISscE4nameEv[_ZNK5boost15program_options11typed_valueISscE4nameEv]+0x18e): undefined reference to `boost::program_options::arg'
minimu9-ahrs.cpp:(.text._ZNK5boost15program_options11typed_valueISscE4nameEv[_ZNK5boost15program_options11typed_valueISscE4nameEv]+0x194): undefined reference to `boost::program_options::arg'
minimu9-ahrs.o: In function `boost::program_options::basic_command_line_parser<char>::basic_command_line_parser(int, char const* const*)':
minimu9-ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcEC2EiPKPKc[_ZN5boost15program_options25basic_command_line_parserIcEC5EiPKPKc]+0x12c): undefined reference to `boost::program_options::to_internal(std::string const&)'
minimu9-ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcEC2EiPKPKc[_ZN5boost15program_options25basic_command_line_parserIcEC5EiPKPKc]+0x150): undefined reference to `boost::program_options::detail::cmdline::cmdline(std::vector<std::string, std::allocator<std::string> > const&)'
minimu9-ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcEC2EiPKPKc[_ZN5boost15program_options25basic_command_line_parserIcEC5EiPKPKc]+0x304): undefined reference to `boost::program_options::to_internal(std::string const&)'
minimu9-ahrs.o: In function `boost::program_options::basic_command_line_parser<char>::run()':
minimu9-ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcE3runEv[_ZN5boost15program_options25basic_command_line_parserIcE3runEv]+0x16): undefined reference to `boost::program_options::detail::cmdline::run()'
minimu9-ahrs.o: In function `boost::program_options::variables_map::~variables_map()':
minimu9-ahrs.cpp:(.text._ZN5boost15program_options13variables_mapD2Ev[_ZN5boost15program_options13variables_mapD5Ev]+0x2c): undefined reference to `vtable for boost::program_options::variables_map'
minimu9-ahrs.o: In function `main':
minimu9-ahrs.cpp:(.text.startup+0x22): undefined reference to `boost::program_options::options_description::m_default_line_length'
minimu9-ahrs.cpp:(.text.startup+0x26): undefined reference to `boost::program_options::options_description::m_default_line_length'
minimu9-ahrs.cpp:(.text.startup+0x34): undefined reference to `boost::program_options::options_description::options_description(std::string const&, unsigned int, unsigned int)'
minimu9-ahrs.cpp:(.text.startup+0x46): undefined reference to `boost::program_options::options_description::add_options()'
minimu9-ahrs.cpp:(.text.startup+0x5e): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, char const*)'
minimu9-ahrs.cpp:(.text.startup+0x72): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, char const*)'
minimu9-ahrs.cpp:(.text.startup+0xac): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, boost::program_options::value_semantic const*, char const*)'
minimu9-ahrs.cpp:(.text.startup+0xe6): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, boost::program_options::value_semantic const*, char const*)'
minimu9-ahrs.cpp:(.text.startup+0x120): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, boost::program_options::value_semantic const*, char const*)'
minimu9-ahrs.cpp:(.text.startup+0x144): undefined reference to `boost::program_options::variables_map::variables_map()'
minimu9-ahrs.cpp:(.text.startup+0x156): undefined reference to `boost::program_options::detail::cmdline::set_options_description(boost::program_options::options_description const&)'
minimu9-ahrs.cpp:(.text.startup+0x16a): undefined reference to `boost::program_options::store(boost::program_options::basic_parsed_options<char> const&, boost::program_options::variables_map&, bool)'
minimu9-ahrs.cpp:(.text.startup+0x17c): undefined reference to `boost::program_options::notify(boost::program_options::variables_map&)'
minimu9-ahrs.cpp:(.text.startup+0x1b2): undefined reference to `boost::program_options::operator<<(std::ostream&, boost::program_options::options_description const&)'
minimu9-ahrs.cpp:(.text.startup+0x552): undefined reference to `boost::program_options::multiple_occurrences::get_option_name() const'
minimu9-ahrs.o: In function `boost::program_options::variables_map::~variables_map()':
minimu9-ahrs.cpp:(.text._ZN5boost15program_options13variables_mapD0Ev[_ZN5boost15program_options13variables_mapD0Ev]+0x34): undefined reference to `vtable for boost::program_options::variables_map'
minimu9-ahrs.o:(.rodata._ZTIN5boost15program_options11typed_valueISscEE[_ZTIN5boost15program_options11typed_valueISscEE]+0x10): undefined reference to `typeinfo for boost::program_options::value_semantic_codecvt_helper<char>'
minimu9-ahrs.o:(.rodata._ZTVN5boost15program_options11typed_valueISscEE[_ZTVN5boost15program_options11typed_valueISscEE]+0x1c): undefined reference to `boost::program_options::value_semantic_codecvt_helper<char>::parse(boost::any&, std::vector<std::string, std::allocator<std::string> > const&, bool) const'
collect2: error: ld returned 1 exit status
make: *** [minimu9-ahrs] Error 1

The current minimu9-ahrs-calibrator script (in minimu9-ahrs version 2.0.0) takes about 18 minutes to run and sometimes produces totally invalid calibrations (along with a warning), so there is room for improvement.

The reason that it produces invalid calibrations is that the way it assigns a score to a given calibration is to see how close the scaled sample readings are to the unit sphere. The closer the points are to the unit sphere, the better the score. Sometimes the optimization routine realizes that it can make some of the calibration numbers really large, effectively squeezing all the sample readings into a very small area that is very close to the unit sphere. As it makes the numbers larger, the score of the calibration approaches the perfect score where everything is exactly on the unit sphere.

I suspect that with the current scoring, we are hoping for the optimization algorithm to find a local maximum, but sometimes it looks a little further than we would want and finds unreasonable calibrations that actually score better.

Maybe we should explore the new type of calibration routine provided by @thesummer in issue #8.

I am stupidly settings the same register twice in a row:

writeAccReg(LSM303_CTRL_REG4_A, 0x08); // high resolution output mode
writeAccReg(LSM303_CTRL_REG4_A, 0x20); // 8 g full scale: FS = 10 on DLHC

That could explain why the raw readings were all a multiple of 4: we're not actually using high resolution output mode.

The problem with including both i2c.h and i2c-dev.h as we did in pull request #36 is that on my operating system (Raspbian 9.13 stretch), both of those headers contain definitions of the i2c_msg and i2c_smbus_data structs:

$ make
g++  -I. -I/usr/include/eigen3 -Wall -std=gnu++11 -O2 -MD -MP  -c -o i2c_bus.o i2c_bus.cpp
In file included from i2c_bus.cpp:9:0:
/usr/include/linux/i2c.h:68:8: error: redefinition of ‘struct i2c_msg’
 struct i2c_msg {
        ^~~~~~~
In file included from i2c_bus.cpp:8:0:
/usr/include/linux/i2c-dev.h:37:8: error: previous definition of ‘struct i2c_msg’
 struct i2c_msg {
        ^~~~~~~
In file included from i2c_bus.cpp:9:0:
/usr/include/linux/i2c.h:131:7: error: redefinition of ‘union i2c_smbus_data’
 union i2c_smbus_data {
       ^~~~~~~~~~~~~~
In file included from i2c_bus.cpp:8:0:
/usr/include/linux/i2c-dev.h:89:7: error: previous definition of ‘union i2c_smbus_data’
 union i2c_smbus_data {
       ^~~~~~~~~~~~~~
<builtin>: recipe for target 'i2c_bus.o' failed
make: *** [i2c_bus.o] Error 1

Removing i2c.h fixes the issue but maybe it breaks the build on Raspbian Buster.

I try to install minimu9-ahrs on Raspbian “wheezy”. But it said not support on armhf. Please help.

I noticed that the first angle is inverted when using "gyro-only". Is that on purpose? Seems natural since clockwise is the natural direction of the compass while counter clock is L3G. Still confusing... Could you maybe drop a note in the "COORDINATE SYSTEMS"?

Hello :)

First of all thank you a lot for the work! I'm trying to use your tool with a standalone LSM6D33

`Error: No magnetometer to read.
pi@raspberrypi:~/minimu9-ahrs $ i2cdetect -y -r 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- 29 -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- 6b -- -- -- --
70: -- -- -- -- -- -- -- --

pi@raspberrypi:~/minimu9-ahrs $ ./minimu9-ahrs -b /dev/i2c-1 --mode raw --output euler
Error: No magnetometer to read.
`

Seems normal because of the LSM6D33 doesn't have magnetometer.

I can't spend too much time on that but after removing the read_mag_raw method from imu.h i'm able to get datas :)

pi@raspberrypi:~/minimu9-ahrs $ make -j4 && ./minimu9-ahrs -b /dev/i2c-1 --mode raw --output euler g++ -I. -I/usr/include/eigen3 -Wall -std=gnu++11 -O2 -MD -MP -c -o minimu9-ahrs.o minimu9-ahrs.cpp g++ -I. -I/usr/include/eigen3 -Wall -std=gnu++11 -O2 -MD -MP -c -o minimu9.o minimu9.cpp g++ minimu9-ahrs.o lsm303.o minimu9.o prog_options.o i2c_bus.o lis3mdl.o l3g.o lsm6.o -lboost_program_options -o minimu9-ahrs -1229777103 -1229783072 -1097588588 1886 -82 3691 78 -103 -67 -1229777103 -1229783072 -1097588588 2005 -79 3683 72 -91 -52 -1229777103 -1229783072 -1097588588 1988 -75 3653 67 -76 -54 -1229777103 -1229783072 -1097588588 2015 -81 3576 67 -90 -63 -1229777103 -1229783072 -1097588588 1970 -68 3619 38 -44 -43 -1229777103 -1229783072 -1097588588 1979 -80 3671 80 -109 -69 -1229777103 -1229783072 -1097588588 1979 -65 3578 68 19 -24 -1229777103 -1229783072 -1097588588 1990 -70 3628 77 -97 -60 -1229777103 -1229783072 -1097588588 1985 -61 3743 101 -129 -85 -1229777103 -1229783072 -1097588588 1953 -79 3621 21 -3 -25 -1229777103 -1229783072 -1097588588 2047 -69 3600 68 -89 -94

Of the 3rd first columns are unusable. So the question is what is simplest way to use your tool with LSM6DS33 ?

Thank you !

Dear Mr.David,
I am actually trying to calibrate the minimu9-ahrs with the raspberrypi. I followed the steps accordingly but when I tried to run 'dpkg -i minimu9-ahrs_VERSION_armel.deb', the output was "dpkg : error processing minimu9-ahrs_VERSION_armel.deb (--install):
package architecture(armel) does not match system(armhf)
Errors were encountered while processing :
minimu9-ahrs_VERSION_armel.deb'
p/s : I had include the latest version from the github but I don't know what went wrong.
I had also tried to use force architecture when running the dpkg but the minimu9-ahrs still cant be processed.
n not to forget, I am using raspbian wheezy.

Ok, so i've calibrated the device and have a strange output in euler.
sample.txt

Every axis works and shows correct values when i turn the Z axis clockwise.
But when i turn it to the lef(crossing North - 0 value) Z axis shows correct values but as you can see the other pitch and roll suddenly shows really high values around 170+ being still flat on the table.

When i switch to quaternion output the readings behave just fine and shows correct values for yaw pitch and roll however i turn the board around Z axis.

Can someone point me to the code thats responsible for that? I've looked through the main cpp file, but i dont see where it can fail like that.
Any help is appreciated
Thanks in advance!

Ps. Somehow turning the device along the Z axis counterclockwise interferes with calculating X and Y and its quite magical to me how this is happening

Using a different processing board and need to solder the gyro board to different GPIO pin numbers. How can the target pins be set within the code?

David,

Thank you very much for all the hard work that must have gone into this. I was able to set it up and make it work with Pololu's AltiMU-10 - the next generation of their sensor board that includes barometric pressure. If I can muster up enough C++ skill I will be adding the altimeter function to the ahrs (which makes it a half-baked adahrs, I suppose).

Have you given any thought to baking this into a daemon like gpsd? Exposing the data over sockets (both Unix domain and network) would be powerful. For the moment I'm faking it by piping all the data into a Redis pub/sub channel, but an actual daemon would be lighter / cleaner.

Cheers,

-S

Hi there,

As a beginner I am trying to install the minimu9-ahrs for the raw data. As I am walking through the steps, I face a slight problem.

At the moment my sensor is soldered well and I get an output from i2cdetect -y 1. But I don't know how to navigate to the top-level directory and run the 'make' command. Where should I type this? How can I navigate to the good place in the terminal?

Thanks in advance

David,

Your software looks great, and I'm very exited to use it. However, after following your instructions on your wiki (https://github.com/DavidEGrayson/minimu9-ahrs/wiki), I still can't seem to get minimu9-ahrs to run. I installed using the command "sudo apt-get install libi2c-dev libboost-program-options-dev make" because I'm using the armhf EABI (so says the command line when I try wget). I don't see any errors, and everything seems to have worked fine, but when I try entering "minimu9-ahrs --mode raw" into the terminal I get the error "-bash: minimu9-ahrs: command not found". I'm pretty new with this, am I simply missing a step somewhere?

Hi, I found a incorrect text in the man file. is the raw reading from the magnetometer should be is the raw reading from the gyroscope . https://github.com/DavidEGrayson/minimu9-ahrs/blob/master/minimu9-ahrs.1#L61

I was wondering if it is possible to include this library as a dependency in another C++ project and programmatically pull sensor data in code?
I was able to get it working on the CLI but am not sure how to include it in my project.
I'm new to C++ so I was trying to figure out if it was possible.

Thank you!

Thanks for this code David,

I'm still working my way through it, but I noticed that the function pacer::set_preiod_ns does not use the nanoseconds parameter when setting the spec variable. It doesn't matter since the use of this function in ahrs requests the same time, but I thought you might be interested.

Cheers,
Steve

David,

I've been working with the unit and the code for several days now and have noticed that:

1. even after calibration the "north" value does not correlate with magnetic north as shown by my trusty Siva compass. It appears to be off by ~-15 degrees.

2. if I rotate the device a perfect 180 from the perceived 0 to its opposite, the device reads not 180 but 200

3. If I create a correction factor of 15 degrees to "true up" the north reading, then swing the device around 180 it reads 224 (!?!?)

Is the Euler value output corrected for "true" north vs. magnetic north?

I've tried moving the mounting around to several place (it's currently attached to the outside of the plastic housing that contains the Raspberry Pi) with similar results.

Any suggestions? I've re-run the calibration utility multiple times. Am I simply expecting too much from the sensor? Does it need to be attached to a dongle that is several feet from the Pi? (How long can you extend an i2c connection?)

Many thanks for your advice.

Hi,

I'm trying to get MinIMU-9 v5 (purchase page mentions LSM6DS33 and LIS3MDL). I keep getting "no sensor detected" even though I see it when I run i2cdetect -y 1.

Am I missing something? Any help would be appreciated.

Thanks for putting up the code, this really helps!

When I tried to make the project, I encountered two errors with destructor scope in I2CBus.cpp and MinIMU9.cpp that were resolved by including <unistd.h>. However, I now get a new error due to undefined references to functions from boost::program_options. I suspect this is a linking issue (I have installed boost on my system), but the makefile contains the line LDFLAGS += -lboost_program_options, so I'm not sure how to proceed. A snippet of the make output is included below:

minimu9-ahrs.o: In function `boost::program_options::variables_map::~variables_map()':
minimu9-ahrs.cpp:(.text._ZN5boost15program_options13variables_mapD0Ev[_ZN5boost15program_options13variables_mapD0Ev]+0xe): undefined reference to `vtable for boost::program_options::variables_map'
minimu9-ahrs.o:(.rodata._ZTIN5boost15program_options20multiple_occurrencesE[_ZTIN5boost15program_options20multiple_occurrencesE]+0x10): undefined reference to `typeinfo for boost::program_options::error_with_option_name'
minimu9-ahrs.o:(.rodata._ZTIN5boost15program_options11typed_valueISscEE[_ZTIN5boost15program_options11typed_valueISscEE]+0x18): undefined reference to `typeinfo for boost::program_options::value_semantic_codecvt_helper<char>'
minimu9-ahrs.o:(.rodata._ZTVN5boost15program_options11typed_valueISscEE[_ZTVN5boost15program_options11typed_valueISscEE]+0x38): undefined reference to `boost::program_options::value_semantic_codecvt_helper<char>::parse(boost::any&, std::vector<std::string, std::allocator<std::string> > const&, bool) const'
collect2: error: ld returned 1 exit status
make: *** [minimu9-ahrs] Error 1

i tried to calibrate the magnetometer so i could use the visualizer (raw mode works great), but I'm getting the following Python error:

Optimizing calibration...Traceback (most recent call last):
File "/usr/bin/minimu9-ahrs-calibrator", line 147, in
run()
File "/usr/bin/minimu9-ahrs-calibrator", line 101, in run
full_output=False, disp=verbose, retall=False)
File "/usr/lib/python2.7/dist-packages/scipy/optimize/optimize.py", line 373, in fmin
res = _minimize_neldermead(func, x0, args, callback=callback, *_opts)
File "/usr/lib/python2.7/dist-packages/scipy/optimize/optimize.py", line 438, in minimize_neldermead
fsim[0] = func(x0)
File "/usr/lib/python2.7/dist-packages/scipy/optimize/optimize.py", line 281, in function_wrapper
return function((wrapper_args + args))
TypeError: can only concatenate tuple (not "list") to tuple

This is running ona Pi Zero, if that helps...

I'm trying to make sense of the numbers that this program outputs, but I often have trouble with that. For example; when I run minimu9-ahrs --mode raw I get something like this:

pi@raspberrypi:~$ minimu9-ahrs --mode raw
   1552   -5487    3618    -2591    2925   -1362      249     -50     -11
   1538   -5494    3644    -2516    2940   -1407       -3     -48     -21
   1538   -5494    3644    -2529    2955   -1377       25     -88     -15
   1538   -5494    3644    -2550    2966   -1380      -15     -58       2
   1538   -5494    3644    -2566    2930   -1360       19     -58      -1
   1557   -5539    3610    -2564    2924   -1402       20     -69     248
   1557   -5539    3610    -2315    2922   -1378       32     -69     253
   1557   -5539    3610    -2580    2882   -1407      -17     -49       2

In the readme I read that it is the raw sensor data from the magnetometor, accelerometer, and gyro. But I'm unsure which numbers belong to which, and I also see 9 numbers, meaning that every one of them contains 3 numbers. To find out I'm finding myself going through the C++ sources, and since I'm not so proficient in that I'm having a hard time doing that.

The same accounts for the Euler output:

pi@raspberrypi:~$ minimu9-ahrs --output euler
   0.000    0.000   -0.000     0.038   -0.029   -0.938    -0.773   -0.089    0.833
   0.078    0.018   -0.033     0.037   -0.035   -0.934    -0.773   -0.089    0.833
   0.283    0.045   -0.156     0.047   -0.037   -0.940    -0.772   -0.066    0.825
   0.576    0.077   -0.330     0.052   -0.043   -0.973    -0.772   -0.066    0.825
   0.705   -0.172   -2.766     0.078    0.021   -1.025    -0.784   -0.091    0.816
   0.827   -0.186   -2.862     0.064   -0.002   -1.041    -0.784   -0.091    0.816
   0.708   -0.198   -3.132     0.044    0.031   -1.022    -0.765   -0.143    0.832
   0.344   -0.123   -3.034     0.031    0.104   -1.039    -0.765   -0.143    0.832
   0.118    0.213   -2.702     0.072    0.023   -1.086    -0.765   -0.143    0.832
 179.688  179.171  177.896     0.097   -0.014   -1.057    -0.765   -0.143    0.832
 178.823  178.513  178.669     0.105   -0.014   -0.902    -0.765   -0.143    0.832
 177.665  178.101  179.839     0.006    0.064   -0.968    -0.771   -0.175    0.818
 176.831  177.625 -179.274     0.151   -0.062   -1.006    -0.771   -0.175    0.818
 175.861  177.146 -179.156     0.156    0.008   -0.981    -0.771   -0.175    0.818
 174.918  176.925 -179.504     0.105    0.084   -0.912    -0.771   -0.175    0.818

The first three are compass, pitch and roll, but what are the other numbers?

It would be great if the first line of the output contains some simple column headers saying what the numbers are. In my opinion it would double the usefulness of the (for the rest awesome) library.

In minimu9-ahrs.cpp I noticed that you are polling for your timing:

        // Ensure that each iteration of the loop takes at least 20 ms.
        while(millis() - start < 20) 
        {   
            usleep(1000);
        }  

Please consider using timerfd() instead (see man 2 timerfd_create) since it will just wake the thread at the right time (well more or less since we do not have a rtos...). If requested I can do a pull request.

Also using the Fifo-scheduler should help with the timing, eg. pthread_setschedparam(pthread_self(), SCHED_FIFO, ...)

Near line 137 of minimu9-ahrs.cpp you are using abs() to compare with a float, however abs() only returns an integer, so its always zero for -1 < x < 1 You might want to use fabs() instead.

if (abs(acceleration.norm() - 1) <= 0.3)
{
}

Hi,

I'm trying to build minimu9-ahrs on archlinux.
I get the following errors while building:

i2c_bus.cpp: In member function 'void i2c_bus::write_byte_and_read(uint8_t, uint8_t, uint8_t*, size_t)':
i2c_bus.cpp:80:38: error: invalid use of incomplete type 'struct i2c_msg'
     { address, 0, 1, (typeof(i2c_msg().buf)) &command },

In file included from i2c_bus.cpp:8:0:
/usr/include/linux/i2c-dev.h:66:9: note: forward declaration of 'struct i2c_msg'
struct i2c_msg *msgs; /* pointers to i2c_msgs */

Did I make a mistake while installing the headers or is that something else?

Hello, thank you for helping me,
I need some help again.

So, I fellow some tutorials, all seems to be ok :

• i2c is running on my raspberri pi3 ( /dev/i2c-1 )
• all libraries are installed
• sensors are detected when I run " i2cdetect -y 1 " exactly as you described in your tutorial
• I build minimu9-ahrs as described, with " make " and " sudo make install " ( no error messages )

But now when I try to run minimu9-ahrs the response is :

• Error : No magnetometer found
• Error : No accelerometer found
• Error : No gyro found
• Error : Needed sensors are missing

Is a test to find where the mistake is ?
Thanks a lot.

As stated in the wiki, currently only v1 and v2 are supported. Do you have an ETA for when v3 support will be there? I just ordered v3. How will v3 differ from v2 in terms of code? Maybe I can help.

Hi,

Facing another small problem. I try to create a ~./minimu9-ahrs file in the home directory, but the terminal errors with ''mkdir: cannot create directory ' /home/pi/.minimu9-ahrs': File exists".

I see in the source code various different minimu9-ahrs files and I don't know where to put the 'i2c-bus=/dev/i2c-1' line. Can you help me out again?

Thanks in advance

What kind of changes would be necessary for adding support for v5? It uses LSM6DS33 and LIS3MDL. Would it just be a matter of making changes analogous to this commit? Or would something else be involved?

Thanks!

Hello,

I am having a bit of an issue and was wondering if someone could help.

https://www.amazon.co.uk/LSM303D-6DoF-Motion-Sensor-Breakout/dp/B07GMHSZD9/ref=sr_1_1?keywords=LSM303D&qid=1582483640&sr=8-1

I have an LSM303D witch says is supported but i run minimu9-ahrs --mode raw i am getting the following error

Error: No gyro found.
Error: Needed sensors are missing.

Is there any way to disable the gyro as I don't need that part.

Kind Regards,
Jason

...since I always just read values between 0..180, even though I would expect values between either 0...360 or -180 and 180

Hello, for the above LSM9DS1 I do receive the following error:
Error: No accelerometer found.
Error: No gyro found.
Error: Needed sensors are missing.

sudo i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- 1e --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- 6b -- -- -- --
70: -- -- -- -- -- -- -- --

Is this sensor maybe not supported? I am using a SparkFun 9dof sensor stick.

Thanks for your excellent work on 'minimu9-ahrs'. I'm creating a ROS driver from it and it's basically working, especially if I use 'fuse_gyro_only()'. But when running with 'fuse_default()', the robot appears upside down (in the ROS rviz visualizer). Also, rotations of the robot about the x-axis sees changes in the z-axis (in the visualization).

ROS uses ENU, whereas minimu9-ahrs uses NED. So I tried changing the code like this (see "// JJ"):

/*
  doesn't work...
  we want East North Up (ENU), but existing is NED... how to convert?
*/
matrix rotation_from_compass(const vector & acceleration, const vector & magnetic_field)
{
  vector up = acceleration; // JJ - removed negation
  vector east = up.cross(magnetic_field); // actually it's magnetic east
  vector north = east.cross(up);

  east.normalize();
  north.normalize();
  up.normalize();

  matrix r;
  r.row(0) = east; // JJ - swapped these
  r.row(1) = north;
  r.row(2) = up;
  return r;
}

Could you offer some advice about how I should change the code to support ENU?

Thanks for any hints!

Hi again,

Sorry for my tardiness but how can I download the source code? Is this code included in the libraries I just downloaded?

Thanks in advance

Hello, I am a beginner with raspberry pi and am trying to begin with the minIMU-9. I have encountered some problems along the way though. I followed all the steps David Grayson has given. Here is the error:

pi@raspberrypi ~ $ sudo dpkg --force-architecture -i minimu9-ahrs_1.1.1-1_armel.deb
dpkg: warning: overriding problem because --force enabled:
package architecture (armel) does not match system (armhf)
Selecting previously unselected package minimu9-ahrs.
(Reading database ... 68818 files and directories currently installed.)
Unpacking minimu9-ahrs (from minimu9-ahrs_1.1.1-1_armel.deb) ...
dpkg: dependency problems prevent configuration of minimu9-ahrs:
minimu9-ahrs depends on libboost-program-options1.42.0 (>= 1.42.0-1).
minimu9-ahrs depends on libc6 (>= 2.4).
minimu9-ahrs depends on libgcc1 (>= 1:4.4.0).
minimu9-ahrs depends on libstdc++6 (>= 4.4.0).

dpkg: error processing minimu9-ahrs (--install):
dependency problems - leaving unconfigured
Processing triggers for man-db ...
Errors were encountered while processing:
minimu9-ahrs

How do i fix this?