High Accuracy Aftermarket IMU/Gyro

Third Party Products
41

Hey @williangalvani !

Sorry for the late reply, I was out of office for two weeks!

Here’s the .bin log for our latest dive. Have to mention that we experienced some Heartbeat lost issues which we are currently trying to get rid of. In this setup we used a DVL and a MTi Heading Sensor.

00000046.zip (9.4 MB)

Also here is our param. file aswell:

Parameter Backup File.params (19.6 KB)

Thanks in advance!

42

No worries, I was also away for two weeks!

Can you set LOG_REPLAY to 1 and LOG_DISARMED to 1, then restart the autopilot?
This will start creating a log file at boot, and with enough data so I can replay the EKF code and see where(if) things went wrong.

That said, I do see it takes a long time for it to converge to the external yaw source, which should be tuneable by (I think) increasing EK3_GBIAS_P_NSE and EK3_GYRO_P_NSE.

Anyway, with the logs I should be able to fine-tune things and look for actual bugs on the ekf, too.

3 Likes
43

Hey @williangalvani !

I’ve set LOG_REPLAY and LOG_DISARMED to 1 and made some logs.

In the .zip below I’ve 2 .bin files with the default EK3_GBIAS_P_NSE and EK3_GYRO_P_NSE (also included .param file included), and 1 .bin file with the changes made to EK3_GBIAS_P_NSE and EK3_GYRO_P_NSE parameters (also included with the other .param file)

Test logs with and without EK3 Param changes.zip (11.1 MB)

I’m curious to your vision on these tests. I have to say that these tests were done in our test tank. If needed, I could do this same test procedure in open water for a extended period of time later.

Thanks in advance!

1 Like
45

Hey @williangalvani ,

I’m really curious if you were able to find anything interesting happening in the log files. In the meanwhile I’ve done some testing for a more extensive amount of time. When I look at the GPS(1) yaw graph and the AHRS yaw graph, they seem to follow the same trend in a way, but just on different levels of offsets. These different offsets may be caused by some in-flight yaw realignments? I think from the following logfile, you’ll be able to conclude it aswell!

00000199.zip (9.3 MB)

Thanks in advance!