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DavidEGrayson / minimu9-ahrs

Program for reading data from the Pololu MinIMU-9 over I²C. Works on the Raspberry Pi and other embedded ARM Linux boards.
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Feature request: column headers before start of output #26

Open kramer65 opened 7 years ago

kramer65 commented 7 years ago

I'm trying to make sense of the numbers that this program outputs, but I often have trouble with that. For example; when I run minimu9-ahrs --mode raw I get something like this:

pi@raspberrypi:~$ minimu9-ahrs --mode raw
   1552   -5487    3618    -2591    2925   -1362      249     -50     -11
   1538   -5494    3644    -2516    2940   -1407       -3     -48     -21
   1538   -5494    3644    -2529    2955   -1377       25     -88     -15
   1538   -5494    3644    -2550    2966   -1380      -15     -58       2
   1538   -5494    3644    -2566    2930   -1360       19     -58      -1
   1557   -5539    3610    -2564    2924   -1402       20     -69     248
   1557   -5539    3610    -2315    2922   -1378       32     -69     253
   1557   -5539    3610    -2580    2882   -1407      -17     -49       2

In the readme I read that it is the raw sensor data from the magnetometor, accelerometer, and gyro. But I'm unsure which numbers belong to which, and I also see 9 numbers, meaning that every one of them contains 3 numbers. To find out I'm finding myself going through the C++ sources, and since I'm not so proficient in that I'm having a hard time doing that.

The same accounts for the Euler output:

pi@raspberrypi:~$ minimu9-ahrs --output euler
   0.000    0.000   -0.000     0.038   -0.029   -0.938    -0.773   -0.089    0.833
   0.078    0.018   -0.033     0.037   -0.035   -0.934    -0.773   -0.089    0.833
   0.283    0.045   -0.156     0.047   -0.037   -0.940    -0.772   -0.066    0.825
   0.576    0.077   -0.330     0.052   -0.043   -0.973    -0.772   -0.066    0.825
   0.705   -0.172   -2.766     0.078    0.021   -1.025    -0.784   -0.091    0.816
   0.827   -0.186   -2.862     0.064   -0.002   -1.041    -0.784   -0.091    0.816
   0.708   -0.198   -3.132     0.044    0.031   -1.022    -0.765   -0.143    0.832
   0.344   -0.123   -3.034     0.031    0.104   -1.039    -0.765   -0.143    0.832
   0.118    0.213   -2.702     0.072    0.023   -1.086    -0.765   -0.143    0.832
 179.688  179.171  177.896     0.097   -0.014   -1.057    -0.765   -0.143    0.832
 178.823  178.513  178.669     0.105   -0.014   -0.902    -0.765   -0.143    0.832
 177.665  178.101  179.839     0.006    0.064   -0.968    -0.771   -0.175    0.818
 176.831  177.625 -179.274     0.151   -0.062   -1.006    -0.771   -0.175    0.818
 175.861  177.146 -179.156     0.156    0.008   -0.981    -0.771   -0.175    0.818
 174.918  176.925 -179.504     0.105    0.084   -0.912    -0.771   -0.175    0.818

The first three are compass, pitch and roll, but what are the other numbers?

It would be great if the first line of the output contains some simple column headers saying what the numbers are. In my opinion it would double the usefulness of the (for the rest awesome) library.