I just updated my blueROV2 to use blueOS and Navigator. After rewiring everything and pressure testing, I realized that my roll and pitch rates are highly unstable. Sometimes going up to 16 rad/s in roll.
As you can see from the screenshot, the xgyro from RAW_IMU is at -16000, which is very wrong since the vehicle is sitting still on the ground
I saw previous discussions that there have been attitude stability issues with Navigator, but it seems they have mostly been addressed in previous releases. I am using ArduSub 4.1.2 Stable for the Navigator
Any help (and rather quickly) would be extremely appreciated
Hi @cmarq -
Have you calibrated your sensors (accelerometer, compass, gyro) since installing the Navigator? If you’re using parameters from the old Pixhawk IMU, that is likely the issue…
I had calibrated all the sensors multiple times before this, but this time I also selected only a single compass instead of the two onboard and redid the calibrations. Everything is rock solid now. Not sure what was going on, but it seems to be fixed for now.
Unfortunately, the problem has returned. Here is a video of my gyro reading in blueOS while the vehicle is sitting still on the bench
at around 13 seconds, I calibrate the gyro, then you can see the strange behavior where the readings jump around sporadically. I think this is still an issue that I need to address. Any help would be greatly appreciated
Hi @cmarq -
That video doesn’t seem to want to play, but I am able to see that you’re measuring over 200 on one gyro axis. If the vehicle is stationary in a low vibration environment, it may be the gyro itself on the Navigator is damaged… Please reach out via the support form to discuss a replacement.
