An update. Some more progress. I hope Tony @tony-white have the time for some well needed feed back.
Fun things first. We did further calibration of the MBES on this wreck. You can see some non straight bread crums, me flying in stabilize mode. (Data before calibrations.)
.bin files, I found them in another place with content, my bad.
Have been allowed to enter position hold now. Did a barrel roll.
Back to basics. The EKF uses its internal instruments as reference as I understand. It seem to be something fishy with AK09915, it’s not represented in the compass rose in blueOS Compass page. Possibly to bad calibration level? (The pi and navigator is mounted with a roll of 90 just like in the BR"2 and it is set up as Roll90.)
Took the vehicle apart in order to be able to do a full calibration (not just Big vehicle) with just the electronics bottle.
Accellerometer, Level Horizon and Gyro checked out ok. Compass calibration though, we never get to start. “MAV_CDM(42424) command failed” in QGC (latest version, just noticed that v.4.2.8 was mentioned as good, but this was year 2024)
When trying compass calib. in BlueOS: “Calibration failed, Error: Unexpected response MAV_RESULT_FAILED” Picture below, the error message vary slightly in between tries.
(Battery voltage was 24V from an AC/DC converter)
Could we have a faulty AK09915? In the assembly guide it is set as primary, and the MMC5883 secondary. Ours have got the other way around and we are not allowed to swap them.
I know that there is a parameter for how sensitive the EKF shall be when comparing input with its internal sensors, we haven’t touched that one yet.
Here is the Sonardyne integration guide, refered to in other posts with faulty URL, this is the updated adress.
Thanks beforehand!