gasont / sf9domahrs Goto Github PK

Hi. I'm using the 1.0 code and I'm able to get the roll, pitch and yaw 
perfectly in the Serial Monitor. However, if I need to manipulate this data, 
how do I do so? For example, I may want to store the data in a .txt file, or 
feed that data to another code for processing. How do I do so?

Also, I'm unable to get the other data (besides the roll, pitch, yaw) even 
though my PRINT_ANALOGS == 1. How do I get all the data?

Thanks!

Hello, 
I have the new 9DOF atomic imu and I am having a bit of trouble reading 
data from it. The installed sketch ran fine and I could read the data no 
problem, but I downloaded the AHRS code from the 9DOF AHRS Code Base. I 
compiled it for the Arduino Duemilanove w/ATmega 328 (which is the chip 
mine came with) and uploaded the sketch. 
I open up my hyper terminal and set it to 57600 baud. Data starts to flow, 
but it is just garbage..ie.strange characters that are not human readable.  
I assume something is wrong with my serial connection.  I changed my COM 
settings in the windows device manager to match those in my hyperterminal. 
What am I doing wrong? 
my settings are: 

Data bits =8 
Parity=none 
Stop bits=1 
Flow control=none 

windows xp pro sp2
arduino ide v0017

thanks a lot for any suggestions at all.

What is the expected output? What do you see instead?
Run like the video on SparkFun website, I don't see the gauges moving neither 
the animation of the board.

What version of the product are you using? On what operating system?
Ubuntu 10.10
Python v2.6
SF9DOF_AHRS_V1.1


Please provide any additional information below.
I downloaded the code into the Razor using the Arduino software without 
problem, but when I run the python script it runs well but the gauges doesn't 
appear in the screen also the simulated 3D Razor doesn't appear. 

Sorry if i had some grammar errors, english is not my native language

I updated the firmware, so that I could get the IMU to work with an xbee.

Well...it worked before the update.  It would initialize, give me the menu, and 
the data made sense.

Now it does this:  (I tried firmware 1.1 and 1.0)

>>>>>>>>>>>>>>>>>>>>
Sparkfun 9DOF Razor IMU v1.06

9 Degree of Measurement Attitude and Heading Reference System

Initialization...(IMU flat and still)

Offset values:

385.68

376.09

383.80

14.00

-256.32

-272.51

!ANG:-0.03,0.02,-0.02

!ANG:-0.05,0.03,-0.03

!ANG:-0.08,0.06,-0.06

!ANG:-0.08,0.07,-0.08

!ANG:-0.08,0.08,-0.10

!ANG:-0.11,0.10,-0.13

!ANG:-0.12,0.11,1.08

!ANG:-0.12,0.11,2.33

!ANG:-0.13,0.14,3.51

!ANG:-0.14,0.13,4.73

!ANG:-0.15,0.16,5.88

!ANG:-0.16,0.17,7.07

!ANG:-0.18,0.19,8.19

!ANG:-0.18,0.21,9.35
these rows continue to stream indefinitely


Any ideas what's wrong?

Thanks,
Benjamin

Hi, 

This is totally awesome.  I am going to put one on a surfboard to reproduce
its movement through the water.

Question...

I have not run the Python Gui yet, because Vista completely crashed and I
switched to linux.  So I am installing atlas right now...meanwhile I am
looking at your code.

You say to install pywin32.  I don't see where pywin32 is called in the code?

Thanks,
Benjamin

What steps will reproduce the problem?
1. Align to NORTH  with zero roll and pitch
2. Roll gradually to 90 degrees clockwise
3. Return to initial state and roll to 90 counterclockwise

The yaw reading was expected to be zero.
The actual readings where off 10 degrees (give or take) on either 
side depending on roll angle. 
Such a variation does not exist for pitch angles either positive or negative. 

Does this sound like a software or hardware issue?

I will test this further for consistency. 

What steps will reproduce the problem?
1. Connect with python graphical interface, allow IMU to warm up / initialize
2. Yaw IMU ~90 deg
3. Observe ~44 deg heading change on screen
4. Yaw IMU ~90 deg additional (total 180 deg heading change)
5. Observe heading change to ~66 deg max from original heading, then drift back 
down to ~44 deg. Same thing happens in other direction.

What is the expected output? What do you see instead?
Expected heading change to match IMU yaw rotation.

What version of the product are you using? On what operating system?
Razor 9DOF, 3.3v FTDI breakout, Win7, AHRS 1.1


Please provide any additional information below.
Could this be a magnetometer calibration issue?

What steps will reproduce the problem?
1. i did not touch the board, try to print the raw data of gyroscope x,y and z 
axis.


What is the expected output? What do you see instead?
the z axis value is stable, but x and y values keep changing.
i expected to see the x and y value should as stable as z when i did not touch 
e board.

What version of the product are you using? On what operating system?
lastest


Please provide any additional information below.

Can you please upload a Version with 38400 Output-Baud?
I´ve tried to change it manually, but i´m always getting a compile error.

What steps will reproduce the problem?

During flight with real glider the 9DOF make faulty output data.

On ground the device working properly, but during flight the data are near to 
zero during turn and descent and climb, its bad pitch and roll indication.


What is the expected output? What do you see instead?
n

What version of the product are you using? On what operating system?
I using the AHRS 1.1 version of firmware

Please provide any additional information below.
The pitch roll error are only during flight on ground is without problems....

What steps will reproduce the problem?
1. python IMU_Razor9DOF.py in terminal to run.

What is the expected output? What do you see instead?
Python runs and gives me the correct visual outputs, but movements are slow and 
jerky and don't represent the position and orientation of the board. After 
about 30 seconds, it crashes and gives me:

i915_program_error: Exceeded max instructions (318 out of 123)
Invalid line
Traceback (most recent call last):
  File "IMU_Razor9DOF.py", line 114, in <module>
    L1.text = str(float(words[0]))
ValueError: empty string for float()

What version of the product are you using? On what operating system?
Ubuntu 10.10
Python v2.6
SF9DOF_AHRS_V1.1
My razor board is a 168

Please provide any additional information below.
I've found trying to get this thing to work to be incredibly frustrating - any 
help would be gratefully received.
One of the frustrations is that the arduino code in SF9DOF_AHRS tells me to 
select:
 Arduino IDE : Select board  "Arduino Duemilanove w/ATmega328"
In order to get it to work i had to select board:
"Arduino pro or pro mini 3.3v..."

What steps will reproduce the problem?
1. Compiled/uploaded the SF9DOF_AHRS_1_1.zip contents
2. Change Com port value in python script
3. Powered on the 9dof and ran the python script

What is the expected output? What do you see instead?
Yaw started at around zero but drifted to 130 within the first 200 data output 
cycles then settled at around 135 (Pointing South East) after about another 100 
cycles. Meanwhile the 9dof didn't move and was always pointing North. Turning 
the 9dof changes the heading but when you stop turning the values drift back to 
135 hence pointing South East.

What version of the product are you using? On what operating system?
SF9DOF_AHRS_1_1 running on 9dof hardware version V14 connected to PC via 3.3v 
FTDI - Python running on Win7 Ultimate. 

Please provide any additional information below.
Attached are the logs. At first the IMU isn't moved. The values creep to 135. I 
then turn the IMU clockwise (around 40 deg) and stop there. The values creep 
back to 135.
Any help would be greatly appreciated.

Try, doing full rotary for pich or yaw, in python we see only half rotary...

What steps will reproduce the problem?
1. set the baud in the ahrs code from 57600 to 9600.


What is the expected output? What do you see instead?
was hopeing it would work but i just get jumbled characters like a bad baud read


i changed the SF9DOF_AHRS_1_0 baud to 9600 and it works just i like how the 1_1 
starts up quicker? is this possible?

Hi,
I can stream all 9dofs with a generic serial port terminal, but when I use
the python code, it doesn't work.

With a baud rate of 57600, absolutely nothing happens, so I changed the
baud rate to 38400.  When I run the code in IDLE, I get this: 
_____________________________________________________

>>>


9DOF IMU Test Firmware v15 



==========================



[1]Accelerometer: ADXL345 



[2]Magnetometer: HMC5843 



[3]Gyroscope: LPR530 and LY530 



[4]Raw 



[5]Self Test




#then nothing for a while, so I hit ctrl+c to break...then I get this msg


Traceback (most recent call last):
  File "/home/benjamin/Desktop/IMU_Razor9DOF.py", line 87, in <module>
    print line
  File "/usr/lib/python2.6/idlelib/PyShell.py", line 1244, in write
    self.shell.write(s, self.tags)
  File "/usr/lib/python2.6/idlelib/PyShell.py", line 1233, in write
    raise KeyboardInterrupt
KeyboardInterrupt
>>> 
_______________________________

Essentially it gets stuck in the while loop and repeatedly does "print
line"  but the line is empty. 

Any ideas about what is wrong??

Thanks,
Benjamin

What steps will reproduce the problem?
1. In flight, pitch and yaw (from magnetometer) work just fine.
2. Roll axis will indicate bank angle when changing bank from level fast
and then return to 0 deg bank angle in a continued turn
3. Roll axis will stay at 0 deg bank angle when changing bank angle slowly

What is the expected output? What do you see instead?
Bank angle should be steady in a continued turn (at least short term). In
the DCM part of the code there is a weighting of the accelerometer data. I
don't understand yet why the gyro erection code still updates in a turn.
Could there a mechnism (heading change by magnetometer, difference of
vertical g force from 1g) that could prevent this behaviour. In the ArduImu
as far as I understand GPS data is used to determine this.

So far, this IMU is not usable in an aircraft.

What version of the product are you using? On what operating system?
latest

Please provide any additional information below.

What steps will reproduce the problem?
1.
2.
3.

What is the expected output? What do you see instead?


What version of the product are you using? On what operating system?


Please provide any additional information below.

What is the expected output? What do you see instead?
I see 50Hz.. Is it possible to tweak the code to make this work at 100Hz so i 
can update my motors for my quadcopter faster? I am using I2C engine 
controllers so they should be able to handle it.

If not, can I still use the PCB bypassing the atmega CPU and talking from my 
32bit PIC or CORTEX ARM processor directly to the sensors?

What version of the product are you using? On what operating system?
9DOF Razor IMU 

Please provide any additional information below.

What steps will reproduce the problem?
1. Load Code onto 9 DOF
2. load following code onto mega
void setup() {
  Serial.begin(57600);
  Serial1.begin(57600);  // Baud rate fixed....
 }

void loop() {

  if(Serial1.available() > 0)
    Serial.print(Serial1.read(), BYTE);
}
3. Wire 9 dof to bread board and attach ftdi as well as linking to aruino 

What is the expected output? What do you see instead?
Expected output is as the program should print data, we see this on hyper 
terminal on the computer,
however on the arduino we only see garbage

What version of the product are you using? On what operating system?
windows 7, 1.0

Please provide any additional information below.

What steps will reproduce the problem?
1. acceleration of the board on a planar surface in x or y axis leads to a roll 
or pitch angle which is not zero and changes with the planar acceleration

What is the expected output? What do you see instead?
since the board is moving in a plane pitch and roll should be zero. x/y 
acceleration of course not. But the angles

What version of the product are you using? On what operating system?
using the code 1.1

Any ideas how to change the code?

What steps will reproduce the problem?
1. Use general serial communication software (like Tera term or
hypertermial) the acceleration data could not be correctly displayed, all
show zeros. But use the serial monitor on Arduino, the display are fine.


What is the expected output? What do you see instead?
Correct Acceleration data. I see all zeros

What version of the product are you using? On what operating system?
9 Degrees of Freedom - Razor IMU - AHRS compatible.
Unbuntu 9.10

Please provide any additional information below.