Compass Example Application not found

[amgaber95]

Hi,

Recently I bought OpenIMU300ZI, and I would like to customize the Compass Application, however, it's not found in the example provided.

Can you please help to get it. thanks

[AndreyBondarev]

AHRS application has compass functionality. Magnetometer aids to attitude calculation.

[amgaber95]

Thank you for your reply. But I have a problem with AHRS.. the heading is suffering from a huge drif over time. It also happens that even if the vehicle is not moving, the heading will gradually drift. For example, let's say the heading now is 20 degrees, even without moving the vehicle I see the heading keep either increase or decrease after a while it may have 30 or 40 degree drift. I have tried to calibrate the magnometer many times but the heading still not reliable for autonomous navigation.

I hope you can guide me on what I am doing wrong or if any configuration can help in better heading estimation. As our vehicle works on an outdoor environment and absolute heading is a must.

Thank you in advance.

[AndreyBondarev]

Did you try to do magnetometer alignment in AHRS application? It helps to improve performance. Also for at least 2 years we did not support any other OpenIMU300ZI applications except IMU, INS and AHRS. Although we still have old Compass application which I can share but without any warranty and so far it has lots of build errors. To get better support from developers and AE team please try to post your questions on Aceinna developers forum:

https://developers.aceinna.com/

Thank you. Andrey

[amgaber95]

Thank you for your answer, I already did the magnetometer alignment, however, the drift still occurs.

Also, I have posted about this issue in the developer forum about one year ago, but so far no response. https://forum.aceinna.com/topic/318/big-drift-in-openimu300zi-yaw-angle This is the reference for my question, I really hope can find a solution for this, as we are planning to buy a large number of IMUs.

[AndreyBondarev]

I published unofficial version here. Please note that it is not supported - use as is.

https://github.com/Aceinna/OpenIMU_Sandbox

If more help required you need to escalate it to the management:

[amgaber95]

Thank you for your cooperation, I really appreciate this. My main goal is to get an accurate and stable absolute heading, the compass was somehow giving accurate results(when the vehicle not moving), but not stable ones it's moving. I just wanted to study the algorithm to see how to adjust the AHRS (since it is very stable, but drifts over time).

If any help on AHRS, this will be perfect.. as I need an accurate and stable heading.

We are a robotics company, and soon we should buy a number of IMUs, if any help on how to get an accurate and stable heading on AHRS this will be greatly appreciated. Even if you have another model that is more stable, currently we are researching in the market on the most stable and accurate, yet affordable.

On Tue, Dec 6, 2022 at 11:59 PM AndreyBondarev @.***> wrote:

I published unofficial version here. Please note that it is not supported

• use as is.

https://github.com/Aceinna/OpenIMU_Sandbox

If more help required you need to escalate it to the management:

— Reply to this email directly, view it on GitHub https://github.com/Aceinna/platform-aceinna_imu/issues/26#issuecomment-1339595551, or unsubscribe https://github.com/notifications/unsubscribe-auth/APR5D2SWZNSIN4ULWEQJBHTWL5PFLANCNFSM6AAAAAASRQINTI . You are receiving this because you authored the thread.Message ID: @.***>

[AndreyBondarev]

Please contact our support on developers site again. I'll send e-mail to our AE team

[dxg-aceinna]

The compass application is for static heading by nature. AHRS is the way to go for dynamic heading. But as you know, magnetic sensor is very sensitive to environmental magnetic interference. Before resorting to a magnetic sensor based heading solution, you need to first make sure your application has no varying hard iron or soft iron for the robotic body and no long-term magnetic interference in the surrounding environment (short-term interference can be compensated by gyro in an AHRS algorithm).

[amgaber95]

Thank you for your clarification, the reason why I wanted to look for a compass application, I just wanted to find a way to solve the AHRS drifting issue, as the compass application was giving accurate heading immediately (of course when the vehicle is not static). Anyway, my goal is to have a reliable and accurate AHRS application, but the current one I use with openimu300zi suffers from huge drift over time. The robot is working in an agricultural environment, so the ground is not flat. and recently I tried to leave the robot not moving for a long time after a huge drift, and I found that it indeed goes back to the correct heading but after a very long time( would be 20 mins or something like this). So the settling time is very huge, although the robot movements aren't really excessive. So I hope I can find a solution for this, we urgently need reliable IMUs units for accurate heading.

I have posted this question https://forum.aceinna.com/topic/318/big-drift-in-openimu300zi-yaw-angle a long time ago, but so far no answer, please let me know if any data or any other clarification is needed.

thank you

[dxg-aceinna]

For the issue of a huge drift and very long settling time, is the initial heading correct?

Could you help to collect some field test data? This might require using a custom FW to collect all the information required for the algorithm to do post analysis.

[ysong-aceinna]

Hi @amgaber95, please see reply in Aceina Forum, thanks. https://forum.aceinna.com/topic/318/big-drift-in-openimu300zi-yaw-angle/