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9 DOF Firmware Issue #5

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?
1. Load the 9DOF firmware on a Razor board.  
2. Run the output.
3. Place the IMU on a flat level surface, move the IMU forward along the X axis 
(in the direction of the 6x1 header.
4. The output should pitch up, during acceleration and down during deceleration.

The expected behavior is that no change in pitch occurs during forward 
acceleration and subsequent stop.

Here is a sample output:

Stable
ANG:0.83,-0.56,34.32,33.52,
ANG:0.84,-0.61,34.31,33.52,
ANG:0.85,-0.64,34.30,33.58,
ANG:0.84,-0.68,34.30,33.58,
ANG:0.83,-0.72,34.29,37.64,
ANG:0.84,-0.74,34.36,37.64,
ANG:0.84,-0.74,34.40,37.68,
ANG:0.85,-0.76,34.46,37.68,
ANG:0.86,-0.75,34.51,42.21,
ANG:0.86,-0.74,34.67,42.21,
ANG:0.87,-0.74,34.78,42.21,
ANG:0.88,-0.75,34.95,42.21,
ANG:0.88,-0.77,35.05,42.23,
ANG:0.87,-0.81,35.17,42.23,
ANG:0.88,-0.85,35.30,42.17,
ANG:0.89,-0.85,35.43,42.17,
ANG:0.89,-0.86,35.54,42.23,
ANG:0.90,-0.86,35.67,42.23,
ANG:0.90,-0.86,35.77,30.77,
ANG:0.92,-0.85,35.68,30.77,
ANG:0.94,-0.84,35.61,30.79,
ANG:0.92,-0.86,35.52,30.79,
ANG:0.89,-0.88,35.45,31.84,
ANG:0.92,-0.90,35.39,31.84,
ANG:0.91,-0.91,35.34,31.87,
ANG:0.93,-0.91,35.29,31.87,
ANG:0.94,-0.91,35.25,31.88,
ANG:0.95,-0.91,35.19,31.88,
ANG:0.95,-0.89,35.15,32.10,
ANG:0.95,-0.87,35.11,32.10,
ANG:0.95,-0.86,35.08,32.07,
ANG:0.93,-0.84,35.02,32.07,
ANG:0.93,-0.86,34.99,34.17,
ANG:0.92,-0.90,34.99,34.17,
ANG:0.90,-0.93,34.98,34.19,
ANG:0.89,-0.96,34.97,34.19,
ANG:0.88,-0.99,34.96,33.27,
ANG:0.90,-0.98,34.92,33.27,
ANG:0.91,-0.96,34.90,33.29,
ANG:0.91,-0.94,34.89,33.29,
ANG:0.92,-0.93,34.88,33.27,
ANG:0.93,-0.90,34.86,33.27,
ANG:0.93,-0.90,34.84,33.88,
ANG:0.93,-0.90,34.82,33.88,
ANG:0.93,-0.90,34.81,33.88,
ANG:0.92,-0.88,34.77,33.88,
ANG:0.92,-0.88,34.77,34.22,
ANG:0.91,-0.88,34.76,34.22,
ANG:0.91,-0.88,34.75,34.21,
ANG:0.92,-0.86,34.76,34.21,
ANG:0.92,-0.84,34.75,32.72,
ANG:0.93,-0.80,34.72,32.72,
ANG:0.90,-0.79,34.70,32.69,
ANG:0.92,-0.18,34.66,32.69,
Forward acceleration begins
ANG:0.91,0.02,34.63,32.25,
ANG:0.91,0.29,34.60,32.25,
ANG:0.91,0.48,34.58,36.76,
ANG:0.94,0.92,34.62,36.76,
ANG:0.95,1.24,34.65,36.30,
ANG:0.95,1.73,34.67,36.30,
ANG:0.98,2.08,34.71,33.34,
ANG:0.92,2.54,34.69,33.34,
ANG:0.88,2.94,34.68,32.78,
ANG:0.88,3.52,34.65,32.78,
ANG:0.90,3.90,34.62,33.71,
ANG:0.92,4.32,34.61,33.71,
ANG:0.89,4.70,34.59,33.23,
ANG:0.91,5.05,34.57,33.23,
ANG:0.91,5.34,34.54,32.76,
ANG:0.99,5.67,34.51,32.76,
ANG:1.01,5.94,34.48,29.10,
ANG:1.06,6.32,34.37,29.10,
ANG:1.08,6.60,34.28,28.83,
ANG:1.09,6.86,34.17,28.83,
ANG:1.07,7.06,34.08,33.00,
ANG:1.00,7.25,34.05,33.00,
ANG:0.94,7.39,34.03,32.65,
ANG:0.91,7.53,34.00,32.65,
ANG:0.93,7.69,33.99,33.80,
ANG:0.93,7.75,33.98,33.80,
ANG:0.93,7.81,33.98,33.67,
ANG:0.93,7.87,33.96,33.67,
ANG:0.91,7.90,33.94,33.59,
ANG:0.91,7.88,33.92,33.59,
ANG:0.91,7.87,33.89,33.55,
ANG:0.91,7.77,33.86,33.55,
ANG:0.85,7.60,33.81,33.63,
ANG:0.72,7.31,33.75,33.63,
ANG:0.68,7.12,33.72,26.56,
Forward acceleration stops
ANG:0.61,6.87,33.54,26.56,
ANG:0.56,6.61,33.40,26.65,
ANG:0.60,6.24,33.21,26.65,
ANG:0.58,5.83,33.08,26.52,
ANG:0.55,5.34,32.94,26.52,
ANG:0.56,4.97,32.82,26.92,
ANG:0.56,4.53,32.68,26.92,
ANG:0.52,4.16,32.57,26.47,
ANG:0.50,3.72,32.42,26.47,
ANG:0.56,3.33,32.32,26.84,
ANG:0.61,2.62,32.17,26.84,
ANG:0.63,2.18,32.09,27.57,
ANG:0.64,1.60,32.02,27.57,
ANG:0.65,1.28,31.98,30.96,
ANG:0.66,0.72,32.01,30.96,
ANG:0.61,0.26,32.04,31.63,
ANG:0.53,-0.42,32.09,31.63,
ANG:0.49,-0.87,32.15,37.48,
ANG:0.59,-1.44,32.34,37.48,
ANG:0.71,-1.87,32.50,38.54,
ANG:0.78,-2.34,32.69,38.54,
ANG:0.82,-2.71,32.85,41.36,
ANG:0.82,-3.28,33.13,41.36,
ANG:0.86,-3.61,33.33,42.44,
ANG:0.90,-4.05,33.60,42.44,
ANG:0.92,-4.34,33.78,43.40,
ANG:0.91,-4.74,34.05,43.40,
ANG:0.93,-4.99,34.23,52.29,
ANG:1.00,-5.19,34.61,52.29,
ANG:1.04,-5.31,34.87,53.03,
ANG:1.14,-5.57,35.14,53.03,
ANG:1.21,-5.79,35.42,49.34,
ANG:1.23,-6.01,35.64,49.34,
ANG:1.25,-6.20,35.84,50.02,
ANG:1.24,-6.42,36.05,50.02,
ANG:1.11,-6.56,36.23,49.39,
ANG:1.07,-6.82,36.44,49.39,
ANG:1.11,-6.99,36.58,49.76,
ANG:1.18,-7.21,36.79,49.76,
ANG:1.23,-7.45,36.93,47.63,
ANG:1.22,-7.78,37.10,47.63,
ANG:1.21,-7.97,37.23,48.37,
ANG:1.18,-8.26,37.44,48.37,
ANG:1.14,-8.52,37.65,48.95,
ANG:1.11,-8.73,37.88,48.95,
ANG:1.18,-8.80,38.03,45.31,
ANG:1.26,-8.33,38.14,45.31,
ANG:1.32,-7.93,38.25,44.98,
ANG:1.36,-7.43,38.36,44.98,
ANG:1.28,-6.93,38.47,44.12,
ANG:1.10,-6.28,38.61,44.12,
ANG:0.99,-5.83,38.70,42.55,
ANG:0.98,-5.31,38.77,42.55,
ANG:1.02,-4.90,38.84,42.83,
ANG:1.06,-4.57,38.90,42.83,
ANG:1.09,-4.27,38.96,42.12,
ANG:1.10,-4.04,39.02,42.12,
ANG:1.13,-3.92,39.06,41.60,
ANG:1.17,-3.74,39.11,41.60,
ANG:1.18,-3.51,39.15,39.06,
ANG:1.18,-3.23,39.14,39.06,
ANG:1.17,-2.96,39.14,38.59,
ANG:1.07,-2.63,39.14,38.59,
ANG:1.05,-2.45,39.14,37.83,
ANG:1.01,-2.20,39.12,37.83,
ANG:1.02,-2.10,39.10,37.39,
ANG:1.04,-2.02,39.07,37.39,
ANG:1.02,-1.94,39.04,41.53,
ANG:1.00,-1.78,39.09,41.53,
ANG:0.99,-1.67,39.14,41.27,
ANG:0.91,-1.48,39.19,41.27,
ANG:0.87,-1.30,39.22,37.02,
ANG:0.79,-1.12,39.19,37.02,
ANG:0.75,-1.02,39.17,36.59,
Stability returns
ANG:0.79,-0.94,39.12,36.59,
ANG:0.80,-0.92,39.08,36.43,
ANG:0.81,-0.88,39.03,36.43,
ANG:0.80,-0.87,38.99,37.16,
ANG:0.81,-0.84,38.95,37.16,
ANG:0.82,-0.82,38.93,37.14,
ANG:0.81,-0.76,38.90,37.14,
ANG:0.81,-0.72,38.87,37.69,
ANG:0.78,-0.64,38.85,37.69,
ANG:0.81,-0.58,38.83,37.57,
ANG:0.85,-0.57,38.81,37.57,
ANG:0.88,-0.56,38.79,36.60,
ANG:0.98,-0.60,38.74,36.60,
ANG:1.01,-0.62,38.72,36.76,
ANG:0.97,-0.61,38.68,36.76,
ANG:0.94,-0.58,38.65,36.76,
ANG:0.94,-0.52,38.63,36.76,
ANG:0.98,-0.49,38.60,42.87,
ANG:1.05,-0.49,38.69,42.87,
ANG:1.09,-0.48,38.75,42.97,
ANG:1.08,-0.46,38.83,42.97,
ANG:1.07,-0.47,38.90,47.29,
ANG:1.06,-0.47,39.06,47.29,
ANG:1.05,-0.47,39.18,47.28,
ANG:1.08,-0.50,39.34,47.28,
ANG:1.09,-0.52,39.45,44.53,
ANG:1.06,-0.46,39.57,44.53,
ANG:1.05,-0.41,39.66,44.46,
ANG:1.05,-0.38,39.74,44.46,
ANG:1.08,-0.39,39.81,44.37,
ANG:1.16,-0.43,39.91,44.37,
ANG:1.14,-0.44,39.98,40.61,
ANG:1.12,-0.46,40.01,40.61,
ANG:1.10,-0.46,40.03,40.60,
ANG:1.07,-0.45,40.04,40.60,
ANG:1.13,-0.46,40.05,36.82,
ANG:1.20,-0.46,39.99,36.82,
ANG:1.24,-0.45,39.94,36.97,
ANG:1.25,-0.43,39.89,36.97,
ANG:1.24,-0.41,39.84,39.31,
ANG:1.21,-0.41,39.83,39.31,
ANG:1.21,-0.45,39.82,39.25,
ANG:1.23,-0.49,39.81,39.25,
ANG:1.21,-0.51,39.80,39.34,
ANG:1.19,-0.45,39.80,39.34,
ANG:1.19,-0.40,39.79,39.27,
ANG:1.19,-0.35,39.79,39.27,
ANG:1.24,-0.34,39.80,39.18,

Original issue reported on code.google.com by logan.gr...@gmail.com on 11 Nov 2010 at 11:27

GoogleCodeExporter commented 9 years ago 
Hi,

Sorry for the LONG delay.

We have abandoned the Atmega based 9DOF in favour of the bare sensor version of 
the 9DOF but I will have a look when I can although you will almost certainly 
have a solution by now. Seems like a DCM code anomally. Did you see the same 
effect laterally as well.

Greg

Original comment by gke3...@gmail.com on 31 Jan 2011 at 2:32