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Razor-AHRS / razor-9dof-ahrs

AHRS Firmware for the SparkFun 9DOF Razor IMU and SparkFun 9DOF Sensor Stick
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Nano+GY 85 via usb #59

Open lukaszgrochola opened 7 years ago

lukaszgrochola commented 7 years ago

Hello!

I made setup for head tracking. Nano with usb interface and gy-85. So i've upload sketch, tested in processing and movement is rly good but... When i try use it in opentrack/facetrack no ir, selecting all of the options etc. I have no movement in this programms.(in section about i see numbers running in, so the programms are getting data).

Any ideas whats wrong?

GFA-SkyRanger commented 7 years ago

I have exact the same problem. On testings all works like a charm. but opentracker and facetracknoir wont get any datas with "Hatire Arduino".

GFA-SkyRanger commented 7 years ago

ok got it to work.

define OUTPUT__STARTUP_STREAM_ON false

has set to true. so just calibrate axes and configure it.

SebastianBonn commented 7 years ago

If you want to use GY-85, uncomment the following line in Razor_AHRS.ino:

define HW__VERSION_CODE 10724 // SparkFun "9DOF Sensor Stick" version "SEN-10724" (HMC5883L magnetometer)

The only difference between SEN-10724 and GY-85 is the orientation of the HMC5883L (magnetometer) in relation to the orientation of accelerometer and gyro. This breaks the tilt compensation in Compass.ino, as the Magnetometer axes are differently orientated. A quick and dirty fix would be rotating the coordinate system in Compass.ino, for example as follows:

float x_new = magnetom[1]; float y_new = -magnetom[0]; float z_new = magnetom[2];

// Tilt compensated magnetic field X mag_x = x_new cos_pitch + y_new sin_roll sin_pitch + z_new cos_roll sin_pitch; // Tilt compensated magnetic field Y mag_y = y_new cos_roll - z_new * sin_roll;