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b3nn0 / stratux

Fork of the original cyoung/stratux with multiple patches for flying in europe
BSD 3-Clause "New" or "Revised" License
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AHRS sensor GY-91 not working with eu23 #115

Closed flyingzombies closed 3 years ago

flyingzombies commented 3 years ago

  1. Stratux version: 1.6r1-eu023

  2. Stratux config:

    SDR

    • [ ] single
    • [ X ] dual

    GPS

    • [ X ] yes
    • [ ] no type:

    AHRS

    • [ X ] yes
    • [ ] no

    power source: 2.0A

    usb cable:

  3. EFB app and version: (e.g., WingX Pro7 8.6.2)

    EFB platform: (e.g., iOS 9.2)

    EFB hardware: (e.g., iPad Mini 2)

  4. Description of your issue:

The GY-91 I installed only delivers baro-data, but no attitude (https://www.amazon.de/gp/product/B07DJ5L1YW/ref=ppx_yo_dt_b_asin_image_o00_s01?ie=UTF8&psc=1). I tried to follow the hardware-approach on: https://github.com/b3nn0/stratux/issues/73 Stratus log shows as follows:

2020/05/27 10:39:28 stats [started: 14 minutes ago] 2020/05/27 10:39:28 - Disk bytes used = 2.3 GB (1.8 %), Disk bytes free = 123 GB (98.2 %) 2020/05/27 10:39:28 - CPUTemp=56.92 [48.31 - 58.53] deg C, MemStats.Alloc=1.8 MB, MemStats.Sys=11 MB, totalNetworkMessagesSent=1,427 2020/05/27 10:39:28 - UAT/min 0/0 [maxSS=0.00%], ES/min 1/1, Total traffic targets tracked=0 2020/05/27 10:39:28 - Network data messages sent: 1248 total, 1248 nonqueueable. Network data bytes sent: 28697 total, 28697 nonqueueable. 2020/05/27 10:39:28 - Last GPS fix: 14 minutes ago, GPS solution type: 0 using 0 satellites (0/0 seen/tracked), NACp: 0, est accuracy 999999.00 m 2020/05/27 10:39:28 - GPS vertical velocity: 0.00 ft/sec; GPS vertical accuracy: 999999 m 2020/05/27 10:39:28 - Mode-S Distance factors (<5000, <10000, >10000): 2500.000000, 2800.000000, 3000.000000 2020/05/27 10:39:28 - Last IMU read: 14 minutes ago, Last BMP read: now 2020/05/27 10:39:32 Could not identify MPU. v=c7, v2=70. 2020/05/27 10:39:36 Could not identify MPU. v=c7, v2=70. 2020/05/27 10:39:40 Could not identify MPU. v=c7, v2=70. 2020/05/27 10:39:44 Could not identify MPU. v=c7, v2=70. 2020/05/27 10:39:46 signal caught: terminated - shutting down. 2020/05/27 10:39:47 Entered UAT shutdown() ... 2020/05/27 10:39:47 UAT shutdown(): calling u.wg.Wait() ... 2020/05/27 10:39:47 UAT read(): shutdown msg received... 2020/05/27 10:39:47 UAT shutdown(): u.wg.Wait() returned... 2020/05/27 10:39:47 UAT shutdown(): closing device ... 2020/05/27 10:39:47 UAT shutdown() complete ... 2020/05/27 10:39:47 Entered ES shutdown() ... 2020/05/27 10:39:47 ES shutdown(): calling e.wg.Wait() ... 2020/05/27 10:39:48 Could not identify MPU. v=c7, v2=70. 2020/05/27 10:39:48 ES read(): shutdown msg received, calling cmd.Process.Kill() ... 2020/05/27 10:39:48 kill successful... 2020/05/27 10:39:48 ES shutdown() complete ... 2020/05/27 10:05:48 - stratux-pre-start.sh - Running Stratux Updater Script. 2020/05/27 10:05:48 - stratux-pre-start.sh - Exited without updating anything... 2020/05/27 10:39:48 Stratux v1.6r1-eu023 (fbda2940a4200d6a6fcf56f9e18e3e46bf6ee1f2) starting. 2020/05/27 10:39:48 read in settings. 2020/05/27 10:39:48 Developer mode set 2020/05/27 10:39:48 client connected: 192.168.10.10:4000 (Moritz). 2020/05/27 10:39:48 client connected: 192.168.10.10:2000 (Moritz). 2020/05/27 10:39:48 client connected: 192.168.10.10:49002 (Moritz). 2020/05/27 10:39:48 Added critical system error: System uptime 934 seconds. Daemon was restarted.

2020/05/27 10:39:48 Entered uatReader() ... 2020/05/27 10:39:50 ===== ES Device Serial: stx:1090:0 PPM 0 ===== 2020/05/27 10:39:50 Entered ES read() ... 2020/05/27 10:39:50 Executed /usr/bin/dump1090 successfully... 2020/05/27 10:39:50 ===== UAT Device Name : Generic RTL2832U OEM ===== 2020/05/27 10:39:50 ===== UAT Device Serial: stx:978:-18===== Found Rafael Micro R820T tuner 2020/05/27 10:39:50 GetTunerType: RTLSDR_TUNER_R820T 2020/05/27 10:39:50 SetTunerGainMode Successful 2020/05/27 10:39:50 SetTunerGain Successful 2020/05/27 10:39:50 GetTunerGain: 480 Exact sample rate is: 2083334.141630 Hz [R82XX] PLL not locked! 2020/05/27 10:39:50 SetSampleRate - rate: 2083334 2020/05/27 10:39:50 GetSampleRate: 2083334 2020/05/27 10:39:50 GetXtalFreq - Rtl: 28800000, Tuner: 28800000 2020/05/27 10:39:50 SetXtalFreq - Center freq: 28800000, Tuner freq: 28800000 2020/05/27 10:39:50 SetCenterFreq 978MHz Successful 2020/05/27 10:39:50 GetCenterFreq: 978000000 2020/05/27 10:39:50 Setting Bandwidth: 1000000 2020/05/27 10:39:50 SetTunerBw 1000000 Successful 2020/05/27 10:39:50 ResetBuffer Successful 2020/05/27 10:39:50 GetFreqCorrection: 0 2020/05/27 10:39:50 SetFreqCorrection -18 Successful 2020/05/27 10:39:50 Entered UAT read() ... 2020/05/27 10:39:53 Could not identify MPU. v=c7, v2=70. 2020/05/27 10:39:56 Could not identify MPU. v=c7, v2=70. 2020/05/27 10:40:00 Could not identify MPU. v=c7, v2=70.

i2cdetect -y 1 gives the same results as in issue 73: If the SDO/SAO-Pin is not connected: 0x68 and 0x76 If it is connected to 3V3: 0x69 and 0x77 After connecting it to 3V3, the Baro-Alt in the AHRS-Tab does not update anymore and stratux.log is full of: 2020/05/27 10:43:00 BMP280 Warning: error reading sensor data: BMP280 Error reading from F7: %!s()

If you need any further information or if theres anything I can help with, let me know!

Edit: I tried compiling changes directly on my pi, but they seem to be ignored:

  1. sudo su
  2. systemctl stop stratux
  3. cd /root/stratux/main
  4. vi sensors.go
  5. Modify the text output when stratux says "Could not identify MPU..." to "Not able to identfy MPU..."
  6. Save
  7. make in stratux folder
  8. make install
  9. systemctl daemon-reload
  10. systemctl start stratux
  11. Log shows the old output: "Could not identify MPU..."
  12. Conclusion: Adding another i2c address in the check wont change anything Am I missing something here?

If possible, enable "Replay Logs", reproduce the problem, and provide a copy of the logs in http://192.168.10.1/logs/stratux/ and http://192.168.10.1/logs/stratux.log.

b3nn0 commented 3 years ago

Addresses 0x68/0x76 are fine, so Stratux is detecting a gyro. It then tries to read two different register values from 0x68 to determine if it is an MPU-9250 or ICM-20948 (which both have address 0x68). However, the registers don't have one of the expected values, so Stratux isn't sure what is connected there. For MPU9250/9255 it expects register 0x75 to read 0x71/0x73. Your chip however delivers 0x70. From quick googling, this should be the case if you have an MPU-6500. Maybe the GY-91 changed chips because the MPU9250 is not produced any more? Apparently, the MPU-6500 is basically the same, except that it doesn't feature a magnetometer (which - IIRC - we are not using anyway).

You could try changing the MPUREG_WHO_AM_I_VAL to 0x70 and check if it is compatible (or add a new variable and change the respective else if).

Your steps to recompile the Stratux code are correct, not sure where something went wrong..

flyingzombies commented 3 years ago

I was wondering why make would only take 3s Turns out my system time was behind some of the files in the stratux folder. Make just spit out "Clock skew detected. Your build may be incomplete" and ignored my changes. find . -exec touch {} + in the stratux directory did the trick by setting all the files dates to the current system time. Running make again now took several minutes.

I changed the MPUREG_WHO_AM_I_VAL to 0x70 and it worked!!! Thanks for the quick help! :)

Edit: According to my chip I still have a MPU9250

b3nn0 commented 3 years ago

Strange. Anyway, I added 0x70 so it should work OOTB in future versions. Usually, Stratux will set your clock correctly once it has a GPS fix, but I guess you're testing indoors without good GPS reception.

flyingzombies commented 3 years ago

Yeah I'm indoors, so that should be the problem. Nevertheless, workaround works 👍

Appreciate the help

McNugget6750 commented 2 years ago

I seem to have the same issue with a recently purchased GY-91. It reports a chipID of 0x75 at register 0x75. image

Since that's the case, I also get a Could not identify MPU. v=c0, v2=75

I have this one: https://www.amazon.com/dp/B0B42GMG1R?psc=1&ref=ppx_yo2ov_dt_b_product_details

b3nn0 commented 2 years ago

https://github.com/b3nn0/stratux/discussions/182