Random values w/ ArduIMU v3 (software ver. 1.9.8)

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Initial steps:

1. ArduIMU + MediaTek GPS connected to PC using the FTDI cable
2. Loaded the ArduIMU software version 1.9.8 using Arduino IDE 1.0.1
3. Tested the output using the test software

Results:

The ArduIMU is stationary over the desk and the test software shows a cube 
which keeps on rolling. I had to modify the ArduIMU code in order to get the 
GPS data correctly ( AP_GPS_MTK16 GPS(&Serial); ) and I have corrected the 
magnetic variation using the value provided by the web site in the code comment.

This is my configuration:

#define GPS_CONNECTION 0 // 0 for GPS pins, 1 for programming pins

// GPS Type Selection - Note Ublox or MediaTek is recommended.  Support for 
NMEA is limited.
#define GPS_PROTOCOL 4    // 1 - NMEA,  2 - EM406,  3 - Ublox, 4 -- MediaTek  

// Enable Air Start uses Remove Before Fly flag - connection to pin 6 on 
ArduPilot 
#define ENABLE_AIR_START 0  //  1 if using airstart/groundstart signaling, 0 if 
not
#define GROUNDSTART_PIN 8    //  Pin number used for ground start signal 
(recommend 10 on v1 and 8 on v2 hardware)

/*Min Speed Filter for Yaw drift Correction*/
#define SPEEDFILT 2 // >1 use min speed filter for yaw drift cancellation 
(m/s), 0=do not use speed filter

/*For debugging propurses*/
#define PRINT_DEBUG 0   //Will print Debug messages

//OUTPUTMODE=1 will print the corrected data, 0 will print uncorrected data of 
the gyros (with drift), 2 will print accelerometer only data
#define OUTPUTMODE 1

#define PRINT_DCM 1     //Will print the whole direction cosine matrix
#define PRINT_ANALOGS 0 //Will print the analog raw data
#define PRINT_EULER 1   //Will print the Euler angles Roll, Pitch and Yaw
#define PRINT_GPS 1     //Will print GPS data
#define PRINT_MAGNETOMETER 1     //Will print Magnetometer data (if 
magnetometer is enabled)

// *** NOTE!   To use ArduIMU with ArduPilot you must select binary output 
messages (change to 1 here)
#define PRINT_BINARY 0  //Will print binary message and suppress ASCII messages 
(above)

// *** NOTE!   Performance reporting is only supported for Ublox.  Set to 0 for 
others
#define PERFORMANCE_REPORTING 0  //Will include performance reports in the 
binary output ~ 1/2 min

/* Support for optional magnetometer (1 enabled, 0 dissabled) */
#define USE_MAGNETOMETER 1 // use 1 if you want to make yaw gyro drift 
corrections using the optional magnetometer   

// Local magnetic declination (in degrees)
// I use this web : http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp
#define MAGNETIC_DECLINATION 2.382    // corrects magnetic bearing to true north
// Magnetometer OFFSETS (magnetometer calibration) (only for ArduIMU v3)
#define MAG_OFFSET_X 0
#define MAG_OFFSET_Y 0
#define MAG_OFFSET_Z 0

/* Support for optional barometer (1 enabled, 0 dissabled) */
#define USE_BAROMETER 0     // use 1 if you want to get altitude using the 
optional absolute pressure sensor                  
#define ALT_MIX 50

Did they tested this software??!?!?

Thank you,
Alessandro Munari

Original issue reported on code.google.com by zerodefe...@gmail.com on 25 Oct 2012 at 11:26

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Did your gps has a lock? i have the same issue without a gps lock.

Original comment by janzimme...@gmail.com on 24 Dec 2012 at 1:35

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I have the same problem here, does anybody fixed it?

Original comment by angelobe...@gmail.com on 25 Dec 2013 at 5:36