kriswiner
commented
7 years ago Hi Kevin,
The magnetometer values are not correct, not sure why but the BNO055 doesn not put out correct mag values when in the fusion mode as far as I can figure. I donlt spend a lot of time working with this sensors though, could be a software error, but I am just reading the mag data registers so not sure.
Anyway, no need for software heading when you have the heading from the BNO055 right?
On Mon, Apr 24, 2017 at 3:47 PM, duckman01 notifications@github.com wrote:
Hi Kris, Kevin down in Tasmania. I am playing with a BNO055 (Adafruit unit, with wiring for power and SCL,SDA only) and your BNO_055 Nano Basic AHRS code with a Mega board. Had some compile issue which l fixed by commenting out lines,981, 993. I uncommented lines 982, 994
uint8_t readByte(uint8_t address, uint8_t subAddress){ uint8_t data; // data will store the register data Wire.beginTransmission(address); // Initialize the Tx buffer Wire.write(subAddress); // Put slave register address in Tx buffer // Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection
alive--------------------------------------------------------------------- Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive------------------------------- // Wire.requestFrom(address, 1); // Read one byte from slave register address Wire.requestFrom(address, (size_t) 1); // Read one byte from slave register address data = Wire.read(); // Fill Rx buffer with result return data; // Return data read from slave register }
void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest){ Wire.beginTransmission(address); // Initialize the Tx buffer Wire.write(subAddress); // Put slave register address in Tx buffer //Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive-------------------------------------- Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive--------------------------------------------- uint8_t i = 0; // Wire.requestFrom(address, count); // Read bytes from slave register address Wire.requestFrom(address, (size_t) count); // Read bytes from slave register address while (Wire.available()) { dest[i++] = Wire.read(); } // Put read results in the Rx buffer }
and comms issue and changed line 163,164
// Using the BNO055_BMP280 breakout board/Teensy 3.1 Add-On Shield, ADO is set to 1 by default //#define ADO 1 //-------------------------------------------
define ADO 0 //this works for KD----------------------------
My question relates to your software code outputs, as the hardware Euler angles are as expected and roll tilt correction error to Yaw is +-2 degree and yaw is approx correct heading bearing. But the software yaw is not working and roll in hardware is pitch in software output. The software yaw changes when turning IMU but doesn't relate to any direction then returns to what it started at. You can see in the start results that the Accel/Gyro/Mag say they are Calibrated, but no system Cal. Also different revision # and l see you state the software yaw is 180 degrees apposed to the hardware but l am not getting a usable software yaw.
Scanning... I2C device found at address 0x28 ! done
BNO055 9-axis motion sensor... BNO055 Address = 0x28 BNO055 WHO_AM_I = 0x0 BNO055 I AM A0 I should be 0xA0 BNO055 ACC I AM FB I should be 0xFB BNO055 MAG I AM 32 I should be 0x32 BNO055 GYRO I AM F I should be 0x0F BNO055 is online... BNO055 SW Revision ID: 3.11 Should be 03.04 BNO055 bootloader Version: 21 accelerometer passed selftest magnetometer passed selftest gyroscope passed selftest MCU passed selftest Accel/Gyro Calibration: Put device on a level surface and keep motionless! Wait...... Accel/Gyro Calibration done! Average accelerometer bias (mg) = -50.00 -71.00 -16.00 Average gyro bias (dps) = -0.06 0.00 0.00 Mag Calibration: Wave device in a figure eight until done! Mag Calibration done! Average magnetometer bias (mG) = 48.13 51.88 -93.75 Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 3 Mag calibration status 3 BNO055 initialized for sensor mode.... System Status = 0x5 Sensor fusion algorithm running ax = 0 ay = 0 az = 0 mg gx = 0.00 gy = 0.00 gz = 0.00 deg/s mx = 0 my = 0 mz = 0 mG Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 3 Mag calibration status 3 Gyro temperature is 18.0 degrees C Kris code yaw, pitch, roll: 0, 0, 0 IMU sensor fusion Yaw, Pitch, Roll: 0, 0, 0 System Status = 0x5 Sensor fusion algorithm running ax = 727 ay = 566 az = -72 mg gx = 237.19 gy = -135.06 gz = 168.31 deg/s mx = -43 my = -45 mz = 0 mG Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 3 Mag calibration status 3 Gyro temperature is 18.0 degrees C Kris code yaw, pitch, roll: -57, -37, 160 IMU sensor fusion Yaw, Pitch, Roll: 102, 70, 45 System Status = 0x5 Sensor fusion algorithm running ax = 161 ay = 562 az = 1307 mg gx = -32.31 gy = 9.31 gz = -111.06 deg/s mx = -42 my = -43 mz = 0 mG Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 3 Mag calibration status 3 Gyro temperature is 19.0 degrees C Kris code yaw, pitch, roll: 60, -41, 5 IMU sensor fusion Yaw, Pitch, Roll: 345, 3, 27
When turning IMU Mag data doesn't really change much (accel/gyro do) but the hardware yaw/pitch/roll seems to be correct and track a compass rose. In 1 lot of restarting the system Cal =3, but l never waved the IMU at mag cal time and when l moved IMU after start completion it went to 0.
Below is data showing software and hardware roll/pitch inverted, also accel lost its cal. I also coded the cal status into the loop, so l could see what was happening
System Status = 0x5 Sensor fusion algorithm running ax = 607 ay = -6 az = 822 mg gx = 0.00 gy = -0.50 gz = -0.12 deg/s mx = -35 my = -40 mz = -1 mG Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 1 Mag calibration status 3 Gyro temperature is 19.0 degrees C Kris code yaw, pitch, roll: 125, -37, -0 IMU sensor fusion Yaw, Pitch, Roll: 36, -1, 37 Any ideas what l have or haven't done correctly ? Regards Kevin
P/S. I still haven't gone any further with the IMU/GPS my end, any thing happening on the fusion your end?
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duckman01
Hi Kris, Kevin down in Tasmania. I am playing with a BNO055 (Adafruit unit, with wiring for power and SCL,SDA only) and your BNO_055 Nano Basic AHRS code with a Mega board. Had some compile issue which l fixed by commenting out lines,981, 993. I uncommented lines 982, 994
{ uint8_t data; //
datawill store the register dataWire.beginTransmission(address); // Initialize the Tx buffer Wire.write(subAddress); // Put slave register address in Tx buffer // Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection
alive--------------------------------------------------------------------- Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive------------------------------- // Wire.requestFrom(address, 1); // Read one byte from slave register address Wire.requestFrom(address, (size_t) 1); // Read one byte from slave register address data = Wire.read(); // Fill Rx buffer with result return data; // Return data read from slave register }
{
Wire.beginTransmission(address); // Initialize the Tx buffer Wire.write(subAddress); // Put slave register address in Tx buffer //Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive-------------------------------------- Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive--------------------------------------------- uint8_t i = 0; // Wire.requestFrom(address, count); // Read bytes from slave register address Wire.requestFrom(address, (size_t) count); // Read bytes from slave register address while (Wire.available()) { dest[i++] = Wire.read(); } // Put read results in the Rx buffer }
and comms issue and changed line 163,164
// Using the BNO055_BMP280 breakout board/Teensy 3.1 Add-On Shield, ADO is set to 1 by default //#define ADO 1 //-------------------------------------------
define ADO 0 //this works for KD--------------------------------------------------------------------------------------
My question relates to your software code outputs, as the hardware Euler angles are as expected and roll tilt correction error to Yaw is +-2 degree and yaw is approx correct heading bearing. But the software yaw is not working and roll in hardware is pitch in software output. The software yaw changes when turning IMU but doesn't relate to any direction then returns to what it started at. You can see in the start results that the Accel/Gyro/Mag say they are Calibrated, but no system Cal. Also different revision # and l see you state the software yaw is 180 degrees apposed to the hardware but l am not getting a usable software yaw.
Scanning... I2C device found at address 0x28 ! done
BNO055 9-axis motion sensor... BNO055 Address = 0x28 BNO055 WHO_AM_I = 0x0 BNO055 I AM A0 I should be 0xA0 BNO055 ACC I AM FB I should be 0xFB BNO055 MAG I AM 32 I should be 0x32 BNO055 GYRO I AM F I should be 0x0F BNO055 is online... BNO055 SW Revision ID: 3.11 Should be 03.04 BNO055 bootloader Version: 21 accelerometer passed selftest magnetometer passed selftest gyroscope passed selftest MCU passed selftest Accel/Gyro Calibration: Put device on a level surface and keep motionless! Wait...... Accel/Gyro Calibration done! Average accelerometer bias (mg) = -50.00 -71.00 -16.00 Average gyro bias (dps) = -0.06 0.00 0.00 Mag Calibration: Wave device in a figure eight until done! Mag Calibration done! Average magnetometer bias (mG) = 48.13 51.88 -93.75 Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 3 Mag calibration status 3 BNO055 initialized for sensor mode.... System Status = 0x5 Sensor fusion algorithm running ax = 0 ay = 0 az = 0 mg gx = 0.00 gy = 0.00 gz = 0.00 deg/s mx = 0 my = 0 mz = 0 mG Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 3 Mag calibration status 3 Gyro temperature is 18.0 degrees C Kris code yaw, pitch, roll: 0, 0, 0 IMU sensor fusion Yaw, Pitch, Roll: 0, 0, 0 System Status = 0x5 Sensor fusion algorithm running ax = 727 ay = 566 az = -72 mg gx = 237.19 gy = -135.06 gz = 168.31 deg/s mx = -43 my = -45 mz = 0 mG Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 3 Mag calibration status 3 Gyro temperature is 18.0 degrees C Kris code yaw, pitch, roll: -57, -37, 160 IMU sensor fusion Yaw, Pitch, Roll: 102, 70, 45 System Status = 0x5 Sensor fusion algorithm running ax = 161 ay = 562 az = 1307 mg gx = -32.31 gy = 9.31 gz = -111.06 deg/s mx = -42 my = -43 mz = 0 mG Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 3 Mag calibration status 3 Gyro temperature is 19.0 degrees C Kris code yaw, pitch, roll: 60, -41, 5 IMU sensor fusion Yaw, Pitch, Roll: 345, 3, 27
When turning IMU Mag data doesn't really change much (accel/gyro do) but the hardware yaw/pitch/roll seems to be correct and track a compass rose. In 1 lot of restarting the system Cal =3, but l never waved the IMU at mag cal time and when l moved IMU after start completion it went to 0.
Below is data showing software and hardware roll/pitch inverted, also accel lost its cal. I also coded the cal status into the loop, so l could see what was happening
System Status = 0x5 Sensor fusion algorithm running ax = 607 ay = -6 az = 822 mg gx = 0.00 gy = -0.50 gz = -0.12 deg/s mx = -35 my = -40 mz = -1 mG Not calibrated = 0, fully calibrated = 3 System calibration status 0 Gyro calibration status 3 Accel calibration status 1 Mag calibration status 3 Gyro temperature is 19.0 degrees C Kris code yaw, pitch, roll: 125, -37, -0 IMU sensor fusion Yaw, Pitch, Roll: 36, -1, 37 Any ideas what l have or haven't done correctly ? Regards Kevin
P/S. I still haven't gone any further with the IMU/GPS my end, any thing happening on the fusion your end?