EKF2 IMU1 Forced Reset

Blue Robotics Software
1

Hi there.

I’m constructing a new submersible with a Pixhawk, and an issue has arisen after configuring the accelerometer. Even when we reconfigure it, it still reports the issue with an incorrect reading of the yaw.

Any help is appreciated, log is attached.

[14:26:27.068] Info: ArduSub V4.0.2 (947bd98c)
[14:26:27.081] Info: ChibiOS: 0997003f
[14:26:27.081] Info: Pixhawk1 004A0020 32375114 38343932
[14:26:27.166] Info: Barometer 1 calibration complete
[14:26:27.908] Critical: Lost manual control
[14:26:29.004] Info: EKF2 IMU0 initial yaw alignment complete
[14:26:29.019] Info: EKF2 IMU1 initial yaw alignment complete
[14:26:29.829] Info: EKF2 IMU0 tilt alignment complete
[14:26:30.055] Info: EKF2 IMU1 tilt alignment complete
[14:27:24.752] Warning: EKF2 IMU0 forced reset
[14:27:24.756] Info: EKF2 IMU0 initial yaw alignment complete
[14:27:26.313] Info: EKF2 IMU0 tilt alignment complete
[14:28:35.844] Warning: EKF2 IMU1 forced reset
[14:28:35.851] Info: EKF2 IMU1 initial yaw alignment complete
[14:28:37.442] Info: EKF2 IMU1 tilt alignment complete
[14:28:40.462] Warning: EKF2 IMU0 forced reset
[14:28:40.514] Info: EKF2 IMU0 initial yaw alignment complete
[14:28:42.086] Info: EKF2 IMU0 tilt alignment complete
[15:31:05.400] Warning: EKF2 IMU1 forced reset
[15:31:05.401] Info: EKF2 IMU1 initial yaw alignment complete
[15:31:06.981] Info: EKF2 IMU1 tilt alignment complete

2

To add: when it is connected over the MavLink proxy, the issue occurs. However, when directly connecting to the PixHawk with over a USB connection, it does not. I’ve ruled out the companion computer as the culprit, so no idea what to consider from here. Currently running version v3.5.4 of the firmware, have tried v4.0.2 as well.

3

Hi @DavidCutler,

Have you calibrated your ROV ?
For further instructions, check here:
https://www.ardusub.com/reference/ardusub/sensors-setup-page.html

4

Hi @patrickelectric,
I have a follow-up question. Do I need to complete ‘Calibrate Pressure’ before ‘Automatic Motor Direction Detection Setup’?
I want to test the circuit before installing pressure sensor and make sure everything works before going into the water.
However, I keep receiving the error message. I wonder if that’s the reason.
Thanks!