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ethz-asl / ethzasl_xsens_driver

Driver for xsens IMUs
BSD 2-Clause "Simplified" License
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Does this driver support PPS for Mti-300? #90

Closed maxvalor closed 5 years ago

maxvalor commented 5 years ago

Does this driver support PPS for Mti-300?

fcolas commented 5 years ago

@maxvalor What is PPS? A quick glance through the documentation raised only synchronization through GNSS (MTi-7 or MTi-G-710).

snakehaihai commented 5 years ago

isn't the pps should be from external device connection? like Arduino connect to both IMU and LIDAR by PPS.

For Mti-300 it should be SyncIn Pin 7 Blue +GND Pin 2 Yellow-green
For Ouster 64. its the 6pin connector thing in the box. one at the bottom left and one at middle left. Connect both to Arduino pin 13 and GND.

For my case, i use hardware to handle most of sync problem. For LIDAR trigger line, I added a digital counter chip to trigger capture at 1 hz. and for the IMU, i`m triggering at 100hz. Since counter had minor delay. I just pre-integrate the IMU reading within the LIDAR frames then concatenate with LIDAR reading directly. The LIDAR find its associated 3D feature and bind with the concatenated IMU pre-integration result for efficient MAP based nonlinear optimization process. The state esimation result is pretty accurate (although I had stereo cam as well, but you can think this camera works same as LIDAR)

Dada, hello there, there you have it

Remember close the issue after you finish it

fcolas commented 5 years ago

Doesn't seem to be related to the node. Closing.