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kriswiner / EM7180_SENtral_sensor_hub

(Affordable) Ultimate Sensor Fusion Solution
https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution/
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Demo USFS comparison Hardware vs Software AHRS: Software out #65

Open fve opened 4 years ago

fve commented 4 years ago

Hi Kris,

Long after purchasing I finally had the time to start the AHRS part of my EFIS. Soldered the USFS on top of teensy 3.6 and with your sketch immediately got angles which seems right... for the Hardware part.

Why is the software attitude so different from the one calculated on the Central (and which is right from first shot) ? I don't intend to use it, that's just for understanding :)

Here is an example: Software yaw, pitch, roll: 255.17, -19.42, 178.34 Hardware Yaw, Pitch, Roll: 268.52, 2.40, -161.12 BMP280: Altimeter temperature = 32.48 C Altimeter temperature = 90.46 F Altimeter pressure = 987.04 mbar Altitude = 723.12 feet

Also, but that's not an issue in my application the temperature is wrong (20°C instead of 32)

Thanks for you feedback François

kriswiner commented 4 years ago

Hi Francois,

Both solution require that the sensors be calibrated. For the EM7180, this requires moving the sensor board around in 3D for a few seconds typically. The "software" solution is simple Madgiwck fusion while the hardware is a bit more sophisticated EM7180 solution. They will be pretty close if the sensors are properly calibrated. The hardware solution is the more accurate.

If your board is directly mounted on a Teens 3.6 I imagine it is getting heated pretty well by the 100 mA or more current used by the Teensy, so the sensor temperature is going to be different from the air temperature.

On Wed, Apr 1, 2020 at 11:25 PM EZC Dev notifications@github.com wrote:

Hi Kris,

Long after purchasing I finally had the time to start the AHRS part of my EFIS. Soldered the USFS on top of teensy 3.6 and with your sketch immediately got angles which seems right... for the Hardware part.

Why is the software attitude so different from the one calculated on the Central (and which is right from first shot) ? I don't intend to use it, that's just for understanding :)

Here is an example: Software yaw, pitch, roll: 255.17, -19.42, 178.34 Hardware Yaw, Pitch, Roll: 268.52, 2.40, -161.12 BMP280: Altimeter temperature = 32.48 C Altimeter temperature = 90.46 F Altimeter pressure = 987.04 mbar Altitude = 723.12 feet

Also, but that's not an issue in my application the temperature is wrong (20°C instead of 32)

Thanks for you feedback François

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