Magnetometer calibration

[gomezramones]

Hi Kris.

We are building an application with MPU9250 to know drivers behaviour by getting G-force values of the accelerometer. However, the sensor will be in a car and the position could affect the values which are obtained of the accelerometer since the sensor could be rotated and the gravity might altering 3-axis. Therefore, we need to know the yaw, roll and pitch angles to substract the gravity value of each axis.

I calibrated accelerometer and gyroscope following your code and to reduce noise vibration I applied a kalman filter. At this points eveything is perfect but when it comes to calibrate,the magnetometer, it is when I complicated. I don't know if I'm moving the sensors correctly when the code is getting the data to calculate the Mag_Bias and Mag_Scale due to the mx,my, and mz graphs aren't even close to be circle. ( I watched some videos and most of them calibrate it by only rotating).

This is Magnetometer calibration code:

void initAK8963(float *destination) { // First extract the factory calibration for each magnetometer axis uint8_t rawData[3]; // x/y/z gyro calibration data stored here writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer
delay(10); writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode delay(10); readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values destination[0] = (float)(rawData[0] - 128)/256. + 1.; // Return x-axis sensitivity adjustment values, etc. destination[1] = (float)(rawData[1] - 128)/256. + 1.;
destination[2] = (float)(rawData[2] - 128)/256. + 1.; writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer delay(10); writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x06); // Set to continous read at 100Hz // writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR int8_t var = readByte(AK8963_ADDRESS,AK8963_CNTL); delay(10); }

void readMagData(int16_t *destination) { uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array uint8_t c = rawData[6]; // End data read by reading ST2 register if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data destination[0] = ((int16_t)rawData[1] << 8) | rawData[0] ; // Turn the MSB and LSB into a signed 16-bit value destination[1] = ((int16_t)rawData[3] << 8) | rawData[2] ; // Data stored as little Endian destination[2] = ((int16_t)rawData[5] << 8) | rawData[4] ; }

void Calibrate_Mag(float Bias, float Bias1){ int16_t Aux[3]; int32_t mag_bias[3] = {0, 0, 0},mag_scale[3] = {0, 0, 0};; int jj = 30; int16_t mag_max[3] = {-32767, -32767, -32767}, mag_min[3] = {32767, 32767, 32767}; Serial.println("Calibrating Magnetometer"); for (int i = 0; i < 1500; i++){ readMagData(Aux); for (int j = 0; j < 3; j++){ if (Aux[j] < mag_min[j]) mag_min[j] = Aux[j]; if (Aux[j] > mag_max[j]) mag_max[j] = Aux[j]; } delay(12); } mag_bias[0] = (mag_max[0] + mag_min[0])/2; // get average x mag bias in counts mag_bias[1] = (mag_max[1] + mag_min[1])/2; // get average y mag bias in counts mag_bias[2] = (mag_max[2] + mag_min[2])/2; // get average z mag bias in counts

Bias[0] = (float)mag_bias[0]magCalibration[0]mRes; // get actual magnetometer value, this depends on scale being set Bias[1] = (float)mag_bias[1]magCalibration[1]mRes;
Bias[2] = (float)mag_bias[2]magCalibration[2]mRes;

// Get soft iron correction estimate mag_scale[0] = (mag_max[0] - mag_min[0])/2; // get average x axis max chord length in counts mag_scale[1] = (mag_max[1] - mag_min[1])/2; // get average y axis max chord length in counts mag_scale[2] = (mag_max[2] - mag_min[2])/2; // get average z axis max chord length in counts

float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2]; avg_rad /= 3.0; Serial.println("Done Calibration"); }

[gomezramones]

I realize that my mistake was Mscale was MFS_16Bits when it had to be MFS_14bits. I don't if those graphs show a good calibration

[kriswiner]

You might need to increase the time for collecting and avergaing the mag data, but this is probably good enough.

What you want to do is use the quaternions to estimate linear acceleration (with gravity removed) this is done in most of the sketches already.

On Mon, Nov 5, 2018 at 7:24 AM gomezramones notifications@github.com wrote:

I realize that my mistake was Mscale was MFS_16Bits when it had to be MFS_14bits. I don't if those graphs show a good calibration

[image: image] https://user-images.githubusercontent.com/40184703/48006960-f315dc80-e0ec-11e8-989f-873e263a04af.png

[image: image] https://user-images.githubusercontent.com/40184703/48006987-045ee900-e0ed-11e8-9dd4-be06de23addd.png

[image: image] https://user-images.githubusercontent.com/40184703/48007017-16408c00-e0ed-11e8-82e7-74765150a3c2.png

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[gomezramones]

Thanks for the answer Mr. Kris. Other question, can I calculate where is the North, East, West and South with AK8963?

[kriswiner]

No, calculate the heading from the quaternion.

On Mon, Nov 5, 2018 at 10:24 AM gomezramones notifications@github.com wrote:

Thanks for the answer Mr. Kris. Other question, can I calculate where is the North, East, West and South with AK8963?

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[gomezramones]

Sorry Mr. Kris but when you said to increase the time for colleting data, you was referring to calibration or plotting.

[kriswiner]

Calibration.

On Fri, Nov 9, 2018 at 7:27 AM gomezramones notifications@github.com wrote:

Sorry Mr. Kris but when you said to increase the time for colleting data, you was referring to calibration or plotting.

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[kokhua90]

Hi Kriswiner,

I implemented the calibration code. However, AK8963 mag scale (mG) = 1.11; 1.15; 0.82. Then, no response to pitch roll yaw. Please enlighten me which part i am not doing right.

MPU9250 9-axis motion sensor... MPU9250 I AM 73 I should be 71 MPU9250 is online... x-axis self test: acceleration trim within : -5.7% of factory value y-axis self test: acceleration trim within : -8.8% of factory value z-axis self test: acceleration trim within : 3.9% of factory value x-axis self test: gyration trim within : 4.2% of factory value y-axis self test: gyration trim within : -2.1% of factory value z-axis self test: gyration trim within : 2.6% of factory value Calibrate gyro and accel accel biases (mg) -155.94 666.56 -303.22 gyro biases (dps) -88.24 -23.93 58.09 MPU9250 initialized for active data mode.... AK8963 I AM 48 I should be 48 AK8963 initialized for active data mode.... Mag Calibration: Wave device in a figure eight until done! mag x min/max: 265 -443 mag y min/max: 522 -159 mag z min/max: 222 -739 Mag Calibration done! AK8963 mag biases (mG) -158.47 324.40 -444.26 AK8963 mag scale (mG) 1.11 1.15 0.82 X-Axis sensitivity adjustment value 1.19 Y-Axis sensitivity adjustment value 1.20 Z-Axis sensitivity adjustment value 1.15 0, 0, 0 Yaw, Pitch, Roll: 13.80, 0.00, 0.00 Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg rate = 0.03 Hz 0, 0, 0 Yaw, Pitch, Roll: 13.80, 0.00, 0.00 Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg rate = 10925.98 Hz

[kriswiner]

No idea, look at one of the sketches in this repository for an example of how I do it.

https://github.com/kriswiner/MPU9250/blob/master/MPU9250_BME280_SPIFlash_Ladybug/MPU9250_BME280_SPIFlash_Ladybug.ino

On Thu, Dec 20, 2018 at 7:02 AM kokhua90 notifications@github.com wrote:

Hi Kriswiner,

I implemented the calibration code. However, AK8963 mag scale (mG) = 1.11; 1.15; 0.82. Then, no response to pitch roll yaw. Please enlighten me which part i am not doing right.

MPU9250 9-axis motion sensor... MPU9250 I AM 73 I should be 71 MPU9250 is online... x-axis self test: acceleration trim within : -5.7% of factory value y-axis self test: acceleration trim within : -8.8% of factory value z-axis self test: acceleration trim within : 3.9% of factory value x-axis self test: gyration trim within : 4.2% of factory value y-axis self test: gyration trim within : -2.1% of factory value z-axis self test: gyration trim within : 2.6% of factory value Calibrate gyro and accel accel biases (mg) -155.94 666.56 -303.22 gyro biases (dps) -88.24 -23.93 58.09 MPU9250 initialized for active data mode.... AK8963 I AM 48 I should be 48 AK8963 initialized for active data mode.... Mag Calibration: Wave device in a figure eight until done! mag x min/max: 265 -443 mag y min/max: 522 -159 mag z min/max: 222 -739 Mag Calibration done! AK8963 mag biases (mG) -158.47 324.40 -444.26 AK8963 mag scale (mG) 1.11 1.15 0.82 X-Axis sensitivity adjustment value 1.19 Y-Axis sensitivity adjustment value 1.20 Z-Axis sensitivity adjustment value 1.15 0, 0, 0 Yaw, Pitch, Roll: 13.80, 0.00, 0.00 Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg rate = 0.03 Hz 0, 0, 0 Yaw, Pitch, Roll: 13.80, 0.00, 0.00 Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg rate = 10925.98 Hz

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[kokhua90]

From the function void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)

however, the input MadgwickQuaternionUpdate(-ax, ay, az, gxpi/180.0f, -gypi/180.0f, -gz*pi/180.0f, my, -mx, mz);

may I know why input is reverse? how to align axis y of Accel to north, Axis X of Accel to east, Axis Z of accel pointing uP?

[kriswiner]

The Madgwick function requires scaled sensor data to be fed in either an ENU or NED configuration. The user selects which accel axis will be defined as North (meaning when this axis is pointing to True North, the qauternion will read 1 0 0 0. The based on the relative orientation of the other sensor axes the user identifies which are pointed East and Up or Down, depending on the orientation convention selected. So for NED convention, the Madgwick filter is loaded with An, Ae, Ad, Gn, Ge, Gd, Mn, Me, Md.

On Sun, Dec 23, 2018 at 4:34 AM kokhua90 notifications@github.com wrote:

From the function void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)

however, the input MadgwickQuaternionUpdate(-ax, ay, az, gxpi/180.0f, -gypi/180.0f, -gzpi/180.0f, my, -mx,* mz);

may I know why is input is reverse? how to align to north?

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[gomezramones]

Hi Kris.

I have a problem calculating MadgwickQuaternionsUpdate function. I followed your code that you share for MPU9250, calibrating the magnetometer (the pictures are above). So, it seems the code calculates the angles (yaw, roll and pitch) ok at the beginning, but when I start to change the IMU position the change rate is not correct. For example, at the beginning I got an angle of 90°, then I rotate 90° the device and it throws me a maximum peak of 170° to stabilize on 135 (it must be 180°)

[kriswiner]

See comment above. if you are properly calibrated (accel, gyro, mag, all three) then this is the likely problem.

On Tue, Jan 29, 2019 at 6:16 AM gomezramones notifications@github.com wrote:

Hi Kris.

I have a problem calculating MadgwickQuaternionsUpdate function. I followed your code that you share for MPU9250, calibrating the magnetometer (the pictures are above). So, it seems the code calculates the angles (yaw, roll and pitch) ok at the beginning, but when I start to change the IMU position the change rate is not correct. For example, at the beginning I got an angle of 90°, then I rotate 90° the device and it throws me a maximum peak of 170° to stabilize on 135 (it must be 180°)

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[gomezramones]

This are my graphs after calibration, besides I check the accelerometer values and there's not offset

I'm confused regarding how to know the orden of the parameter of Madgwick. As you said before, the Madgwick filter is loaded with An, Ae, Ad, Gn, Ge, Gd, Mn, Me, Md; thus, if my North is Y-axis, East is X-Axis and Down is -Z-axis, Madgwick parameters would be (Ay, Ax,Az,Gy,Gx,Gz,Mx,My,-Mz). Is that correct?

[kriswiner]

Looks OK, mag calibration could be improved.

On Tue, Jan 29, 2019 at 10:36 AM gomezramones notifications@github.com wrote:

This are my graphs after calibration, besides I check the accelerometer values and there's not offset

[image: calibration1] https://user-images.githubusercontent.com/40184703/51928433-518ce700-23cc-11e9-85ca-7a422a00714c.JPG [image: calibration2] https://user-images.githubusercontent.com/40184703/51928434-52257d80-23cc-11e9-848c-eb0a7c29a517.JPG [image: calibration3] https://user-images.githubusercontent.com/40184703/51928435-52257d80-23cc-11e9-9a23-7e0561c96246.JPG

I'm confused regarding how to know the orden of the parameter of Madgwick. As you said before, the Madgwick filter is loaded with An, Ae, Ad, Gn, Ge, Gd, Mn, Me, Md; thus, if my North is Y-axis, East is X-Axis and Down is -Z-axis, Madgwick parameters would be (Ay, Ax,Az,Gy,Gx,Gz,Mx,My,-Mz). Is that correct?

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[gomezramones]

I think I know my problem. Gyroscope isn't calibrated since the values change a lot and the device is not moving: gx:-0.76 gy:12.31 gz:-0.67 gx:0.24 gy:6.42 gz:-2.56 gx:0.93 gy:-3.77 gz:6.30 gx:0.20 gy:4.21 gz:3.11 gx:-1.28 gy:-10.89 gz:-2.33 gx:-0.96 gy:-12.56 gz:0.14 gx:0.72 gy:-0.15 gz:1.72 gx:-0.23 gy:-3.30 gz:0.85 gx:-0.23 gy:-11.11 gz:-5.40 gx:-0.03 gy:-3.20 gz:1.94 gx:-0.99 gy:32.82 gz:-1.77 gx:-0.78 gy:-6.15 gz:3.59 gx:-1.25 gy:4.78 gz:0.44 gx:0.29 gy:13.60 gz:3.77 gx:-0.75 gy:-0.96 gz:-0.58 gx:-0.72 gy:-3.13 gz:-0.15

But it is weird because I follow your code

[gomezramones]

Hi Kris.

I calibrate the magnetometer yet again and this are the graphs

But still the gyroscope has a lot of noise when the IMU9250 is not moving:

-0.02 -16.45 -0.58 -0.63 -25.27 -0.95 0.05 -2.06 1.77 0.55 -0.52 3.25 -0.47 -8.42 0.76 1.10 10.16 4.76 -0.52 6.68 -3.31 0.60 2.23 -1.94 -0.09 -13.72 1.05 0.14 -4.00 2.32 -0.02 15.59 5.46 0.31 4.56 -3.01 0.40 13.87 -1.57 -0.58 7.29 1.56 -0.15 9.78 2.64 0.76 -1.74 1.88 0.24 20.29 1.97 -0.12 -25.22 -4.29 0.00 -10.10 0.81 0.61 9.31 1.31 1.02 9.23 -0.38 -0.17 1.80 -1.77 0.79 10.89 -3.54 -0.98 0.08 0.40 -0.11 -5.25 -1.11 0.00 -7.54 2.85 -0.89 3.05 2.03 1.56 -11.12 3.02 0.61 -13.44 -2.23 -0.58 26.49 1.79 0.82 -16.54 0.79 -0.72 -8.59 -3.77 -0.34 9.89 -0.21 -0.17 2.84 2.64 0.99 4.50 3.45 1.07 6.67 2.70 0.31 9.09 1.25 0.46 -6.55 2.62 -0.37 16.56 1.98 -1.43 -4.14 -0.84 0.26 0.66 0.66 0.34 -6.68 0.23 0.35 -3.31 1.05 -0.72 -1.75 0.73 -0.43 15.15 -2.75 -0.31 -15.69 -1.21

PS: I followed your code to calibrate Accel and Gyro

[kriswiner]

Something wrong with your gyro, or conversion to dps. The readings at rest should be 0, 0, 0 dps.

On Wed, Jan 30, 2019 at 9:09 AM gomezramones notifications@github.com wrote:

Hi Kris.

I calibrate the magnetometer yet again and this are the graphs

[image: image] https://user-images.githubusercontent.com/40184703/51998448-11db0380-248f-11e9-9115-8ef206a347ba.png [image: image] https://user-images.githubusercontent.com/40184703/51998457-19021180-248f-11e9-8dfa-28e8197cadb9.png [image: image] https://user-images.githubusercontent.com/40184703/51998497-2c14e180-248f-11e9-89c8-046a40cdd27d.png

But still the gyroscope has a lot of noise when the IMU9250 is not moving:

-0.02 -16.45 -0.58 -0.63 -25.27 -0.95 0.05 -2.06 1.77 0.55 -0.52 3.25 -0.47 -8.42 0.76 1.10 10.16 4.76 -0.52 6.68 -3.31 0.60 2.23 -1.94 -0.09 -13.72 1.05 0.14 -4.00 2.32 -0.02 15.59 5.46 0.31 4.56 -3.01 0.40 13.87 -1.57 -0.58 7.29 1.56 -0.15 9.78 2.64 0.76 -1.74 1.88 0.24 20.29 1.97 -0.12 -25.22 -4.29 0.00 -10.10 0.81 0.61 9.31 1.31 1.02 9.23 -0.38 -0.17 1.80 -1.77 0.79 10.89 -3.54 -0.98 0.08 0.40 -0.11 -5.25 -1.11 0.00 -7.54 2.85 -0.89 3.05 2.03 1.56 -11.12 3.02 0.61 -13.44 -2.23 -0.58 26.49 1.79 0.82 -16.54 0.79 -0.72 -8.59 -3.77 -0.34 9.89 -0.21 -0.17 2.84 2.64 0.99 4.50 3.45 1.07 6.67 2.70 0.31 9.09 1.25 0.46 -6.55 2.62 -0.37 16.56 1.98 -1.43 -4.14 -0.84 0.26 0.66 0.66 0.34 -6.68 0.23 0.35 -3.31 1.05 -0.72 -1.75 0.73 -0.43 15.15 -2.75 -0.31 -15.69 -1.21

PS: I followed your code to calibrate Accel and Gyro

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[gomezramones]

So, Do I change the sensor? I'm working with an ATMega

[kriswiner]

You can try another sensor breakout, or maybe something is wrong with your sketch?

On Wed, Jan 30, 2019 at 10:14 AM gomezramones notifications@github.com wrote:

So, Do I change the sensor? I'm working with an ATMega

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[gomezramones]

Ok, I'll just keep looking at my code to see if I can solve the problem. But it is strange since I check the register where the bias must be pushed and it save all the data

[kriswiner]

This has nothing to do with the offset bias. Your gyro should show stable values when motionless. What do the raw data registers show?

On Wed, Jan 30, 2019 at 10:39 AM gomezramones notifications@github.com wrote:

Ok, I'll just keep looking at my code to see if I can solve the problem. But it is strange since I check the register where the bias must be pushed and it save all the data

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[gomezramones]

This are the values XG_OFFSET_H:255 XG_OFFSET_L:215 YG_OFFSET_H:255 YG_OFFSET_L:249 ZG_OFFSET_H:0 ZG_OFFSET_L:11

[kriswiner]

OK, let's try again.

Print out the raw gyro register values (not the offsets, no one cares about this) on the serial monitor for a few seconds while the sensor board is flat and motionless.

They should be close to zero counts and constant, not changing...are they?

On Wed, Jan 30, 2019 at 11:06 AM gomezramones notifications@github.com wrote:

This are the values XG_OFFSET_H:255 XG_OFFSET_L:215 YG_OFFSET_H:255 YG_OFFSET_L:249 ZG_OFFSET_H:0 ZG_OFFSET_L:11

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[gomezramones]

Sorry, I misunderstood. This are the raw data

-12.00 -884.00 22.00 -154.00 122.00 -246.00 -142.00 2184.00 256.00 80.00 966.00 138.00 -74.00 -3172.00 640.00 -72.00 -1734.00 -420.00 96.00 -1196.00 330.00 42.00 3088.00 -644.00 -38.00 286.00 84.00 86.00 -68.00 536.00 42.00 34.00 302.00 -106.00 -574.00 148.00 144.00 -94.00 -484.00 -48.00 1780.00 70.00 106.00 1380.00 -120.00 -12.00 -3058.00 -396.00 -116.00 4540.00 42.00 40.00 3106.00 76.00 8.00 1982.00 -134.00 42.00 -126.00 118.00 -38.00 -1468.00 198.00 92.00 -724.00 -74.00 -134.00 -776.00 -244.00 74.00 404.00 452.00 -2.00 -1240.00 -52.00 -62.00 922.00 398.00 140.00 -1676.00 -158.00 180.00 -160.00 378.00 -126.00 290.00 -694.00 112.00 1840.00 14.00 34.00 2204.00 -346.00 -58.00 -1434.00 302.00 200.00 -806.00 -544.00 22.00 -936.00 610.00 it is getting the raw data awful

[kriswiner]

Is this the register values? Or the scaled values. What is in the registers? Maybe just look at Gz or Gx, what do the two bytes show?

On Wed, Jan 30, 2019 at 11:22 AM gomezramones notifications@github.com wrote:

Sorry, I misunderstood. This are the raw data

-12.00 -884.00 22.00 -154.00 122.00 -246.00 -142.00 2184.00 256.00 80.00 966.00 138.00 -74.00 -3172.00 640.00 -72.00 -1734.00 -420.00 96.00 -1196.00 330.00 42.00 3088.00 -644.00 -38.00 286.00 84.00 86.00 -68.00 536.00 42.00 34.00 302.00 -106.00 -574.00 148.00 144.00 -94.00 -484.00 -48.00 1780.00 70.00 106.00 1380.00 -120.00 -12.00 -3058.00 -396.00 -116.00 4540.00 42.00 40.00 3106.00 76.00 8.00 1982.00 -134.00 42.00 -126.00 118.00 -38.00 -1468.00 198.00 92.00 -724.00 -74.00 -134.00 -776.00 -244.00 74.00 404.00 452.00 -2.00 -1240.00 -52.00 -62.00 922.00 398.00 140.00 -1676.00 -158.00 180.00 -160.00 378.00 -126.00 290.00 -694.00 112.00 1840.00 14.00 34.00 2204.00 -346.00 -58.00 -1434.00 302.00 200.00 -806.00 -544.00 22.00 -936.00 610.00 it is getting the raw data awful

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[gomezramones]

Yes , it is the register values from 0x43 to 0x48. No, I remove the scale part of the code. The first column is Gx, the second is Gy and Gz is the last one.

readGyroData(gyroCount); // Read the x/y/z adc values getGres(); gx = gyroCount[0];//gRes; // get actual gyro value, this depends on scale being set gy = gyroCount[1];//gRes;
gz = gyroCount[2];//*gRes;

void readGyroData(int16_t * destination){ uint8_t rawData[6]; // x/y/z gyro register data stored here readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array destination[0] = ((int16_t)rawData[0] << 8) | rawData[1] ; // Turn the MSB and LSB into a signed 16-bit value destination[1] = ((int16_t)rawData[2] << 8) | rawData[3] ;
destination[2] = ((int16_t)rawData[4] << 8) | rawData[5] ; }

[gomezramones]

Let me print the two bytes before gathering the values

[gomezramones]

this the raw data:

raw data Gx (MSB):0 raw data Gx (LSB):204 raw data Gx (MSB):0 raw data Gx (LSB):158 raw data Gx (MSB):0 raw data Gx (LSB):218 raw data Gx (MSB):255 raw data Gx (LSB):236 raw data Gx (MSB):0 raw data Gx (LSB):122 raw data Gx (MSB):1 raw data Gx (LSB):12 raw data Gx (MSB):0 raw data Gx (LSB):82 raw data Gx (MSB):0 raw data Gx (LSB):186 raw data Gx (MSB):255 raw data Gx (LSB):218 raw data Gx (MSB):0 raw data Gx (LSB):216 raw data Gx (MSB):0 raw data Gx (LSB):110 raw data Gx (MSB):255 raw data Gx (LSB):112 raw data Gx (MSB):0 raw data Gx (LSB):88 raw data Gx (MSB):255 raw data Gx (LSB):250 raw data Gx (MSB):1 raw data Gx (LSB):60 raw data Gx (MSB):0 raw data Gx (LSB):116 raw data Gx (MSB):1 raw data Gx (LSB):24 raw data Gx (MSB):0 raw data Gx (LSB):228 raw data Gx (MSB):1 raw data Gx (LSB):42 raw data Gx (MSB):1 raw data Gx (LSB):2 raw data Gx (MSB):0 raw data Gx (LSB):248 raw data Gx (MSB):0 raw data Gx (LSB):104 raw data Gx (MSB):0 raw data Gx (LSB):232 raw data Gx (MSB):0 raw data Gx (LSB):186 raw data Gx (MSB):0 raw data Gx (LSB):144 raw data Gx (MSB):0 raw data Gx (LSB):250 raw data Gx (MSB):0 raw data Gx (LSB):232 raw data Gx (MSB):0 raw data Gx (LSB):136 raw data Gx (MSB):0 raw data Gx (LSB):56 raw data Gx (MSB):0 raw data Gx (LSB):72 raw data Gx (MSB):0 raw data Gx (LSB):156 raw data Gx (MSB):0 raw data Gx (LSB):194 raw data Gx (MSB):0 raw data Gx (LSB):208 raw data Gx (MSB):0 raw data Gx (LSB):234 raw data Gx (MSB):0 raw data Gx (LSB):172 raw data Gx (MSB):255 raw data Gx (LSB):214

[kriswiner]

so largest difference is ~200 counts, and at 250 dps full scale this is 200/16500 x 250 dps ~ 3 dps which is really quite a lot. Looks like either your sensor is moving during this data collection or your gyro is broken. You should be seeing ~25 count difference or less....

On Wed, Jan 30, 2019 at 11:43 AM gomezramones notifications@github.com wrote:

this the raw data:

raw data Gx (MSB):0 raw data Gx (LSB):204 raw data Gx (MSB):0 raw data Gx (LSB):158 raw data Gx (MSB):0 raw data Gx (LSB):218 raw data Gx (MSB):255 raw data Gx (LSB):236 raw data Gx (MSB):0 raw data Gx (LSB):122 raw data Gx (MSB):1 raw data Gx (LSB):12 raw data Gx (MSB):0 raw data Gx (LSB):82 raw data Gx (MSB):0 raw data Gx (LSB):186 raw data Gx (MSB):255 raw data Gx (LSB):218 raw data Gx (MSB):0 raw data Gx (LSB):216 raw data Gx (MSB):0 raw data Gx (LSB):110 raw data Gx (MSB):255 raw data Gx (LSB):112 raw data Gx (MSB):0 raw data Gx (LSB):88 raw data Gx (MSB):255 raw data Gx (LSB):250 raw data Gx (MSB):1 raw data Gx (LSB):60 raw data Gx (MSB):0 raw data Gx (LSB):116 raw data Gx (MSB):1 raw data Gx (LSB):24 raw data Gx (MSB):0 raw data Gx (LSB):228 raw data Gx (MSB):1 raw data Gx (LSB):42 raw data Gx (MSB):1 raw data Gx (LSB):2 raw data Gx (MSB):0 raw data Gx (LSB):248 raw data Gx (MSB):0 raw data Gx (LSB):104 raw data Gx (MSB):0 raw data Gx (LSB):232 raw data Gx (MSB):0 raw data Gx (LSB):186 raw data Gx (MSB):0 raw data Gx (LSB):144 raw data Gx (MSB):0 raw data Gx (LSB):250 raw data Gx (MSB):0 raw data Gx (LSB):232 raw data Gx (MSB):0 raw data Gx (LSB):136 raw data Gx (MSB):0 raw data Gx (LSB):56 raw data Gx (MSB):0 raw data Gx (LSB):72 raw data Gx (MSB):0 raw data Gx (LSB):156 raw data Gx (MSB):0 raw data Gx (LSB):194 raw data Gx (MSB):0 raw data Gx (LSB):208 raw data Gx (MSB):0 raw data Gx (LSB):234 raw data Gx (MSB):0 raw data Gx (LSB):172 raw data Gx (MSB):255 raw data Gx (LSB):214

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[gomezramones]

I will assume that my sensor is broken since I never moved it to this test

[gomezramones]

Thanks for the help Kris. Let me change the sensor

[kriswiner]

Try another one.

On Wed, Jan 30, 2019 at 12:21 PM gomezramones notifications@github.com wrote:

I will assume that my sensor is broken since I never moved it to this test

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[kriswiner]

You can buy some here https://www.tindie.com/products/onehorse/wearable-mpu9250-nano-board/ if needed.

On Wed, Jan 30, 2019 at 12:22 PM gomezramones notifications@github.com wrote:

Thanks for the help Kris. Let me change the sensor

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[gomezramones]

Hi Kris, I have few MPU9250 so I change it. However, it still send me this raw data that changes a lot

raw data Gx (MSB):255 raw data Gx (LSB):142 raw data Gx (MSB):0 raw data Gx (LSB):58 raw data Gx (MSB):0 raw data Gx (LSB):56 raw data Gx (MSB):0 raw data Gx (LSB):104 raw data Gx (MSB):0 raw data Gx (LSB):186 raw data Gx (MSB):0 raw data Gx (LSB):80 raw data Gx (MSB):0 raw data Gx (LSB):172 raw data Gx (MSB):0 raw data Gx (LSB):164 raw data Gx (MSB):0 raw data Gx (LSB):42 raw data Gx (MSB):0 raw data Gx (LSB):18 raw data Gx (MSB):255 raw data Gx (LSB):254 raw data Gx (MSB):0 raw data Gx (LSB):162 raw data Gx (MSB):1 raw data Gx (LSB):24 raw data Gx (MSB):255 raw data Gx (LSB):206 raw data Gx (MSB):0 raw data Gx (LSB):86 raw data Gx (MSB):0 raw data Gx (LSB):38 raw data Gx (MSB):0 raw data Gx (LSB):42 raw data Gx (MSB):0 raw data Gx (LSB):108 raw data Gx (MSB):0 raw data Gx (LSB):60 raw data Gx (MSB):255 raw data Gx (LSB):156 raw data Gx (MSB):0 raw data Gx (LSB):106 raw data Gx (MSB):0 raw data Gx (LSB):252 raw data Gx (MSB):0 raw data Gx (LSB):110 raw data Gx (MSB):0 raw data Gx (LSB):52 raw data Gx (MSB):0 raw data Gx (LSB):156 raw data Gx (MSB):255 raw data Gx (LSB):234 raw data Gx (MSB):0 raw data Gx (LSB):92 raw data Gx (MSB):0 raw data Gx (LSB):108 raw data Gx (MSB):0 raw data Gx (LSB):158

[kriswiner]

What are you using for gyro full scale?

On Wed, Jan 30, 2019 at 1:11 PM gomezramones notifications@github.com wrote:

Hi Kris, I have few MPU9250 so I change it. However, it still send me this raw data that changes a lot

raw data Gx (MSB):255 raw data Gx (LSB):142 raw data Gx (MSB):0 raw data Gx (LSB):58 raw data Gx (MSB):0 raw data Gx (LSB):56 raw data Gx (MSB):0 raw data Gx (LSB):104 raw data Gx (MSB):0 raw data Gx (LSB):186 raw data Gx (MSB):0 raw data Gx (LSB):80 raw data Gx (MSB):0 raw data Gx (LSB):172 raw data Gx (MSB):0 raw data Gx (LSB):164 raw data Gx (MSB):0 raw data Gx (LSB):42 raw data Gx (MSB):0 raw data Gx (LSB):18 raw data Gx (MSB):255 raw data Gx (LSB):254 raw data Gx (MSB):0 raw data Gx (LSB):162 raw data Gx (MSB):1 raw data Gx (LSB):24 raw data Gx (MSB):255 raw data Gx (LSB):206 raw data Gx (MSB):0 raw data Gx (LSB):86 raw data Gx (MSB):0 raw data Gx (LSB):38 raw data Gx (MSB):0 raw data Gx (LSB):42 raw data Gx (MSB):0 raw data Gx (LSB):108 raw data Gx (MSB):0 raw data Gx (LSB):60 raw data Gx (MSB):255 raw data Gx (LSB):156 raw data Gx (MSB):0 raw data Gx (LSB):106 raw data Gx (MSB):0 raw data Gx (LSB):252 raw data Gx (MSB):0 raw data Gx (LSB):110 raw data Gx (MSB):0 raw data Gx (LSB):52 raw data Gx (MSB):0 raw data Gx (LSB):156 raw data Gx (MSB):255 raw data Gx (LSB):234 raw data Gx (MSB):0 raw data Gx (LSB):92 raw data Gx (MSB):0 raw data Gx (LSB):108 raw data Gx (MSB):0 raw data Gx (LSB):158

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[gomezramones]

Gyro scale is zero, I made a little code to read the Gyro_Config register

uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); Serial.print("GYRO_CONFIG:"); Serial.println(c,HEX)

This is the answer -->GYRO_CONFIG:2

[gomezramones]

Might be the frequency of the gyro? Since FSEL = 2 (10) and the frequency is 32KHz with a bandwidth of 8800Hz

[kriswiner]

This configuration sounds aweful to me. Why not select 1 kHz or 200 Hz gyro sample rate with a 41 Hz bandwidth?

On Wed, Jan 30, 2019 at 1:30 PM gomezramones notifications@github.com wrote:

Might be the frequency of the gyro? Since FSEL = 2 (10) and the frequency is 32KHz with a bandwidth of 8800Hz

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[gomezramones]

Yes, I didn't know it had that configuration. Tomorrow I will the setting and the results. Thanks a lot for all the help you gave me Kris

[gomezramones]

I will set the register and see the results*

[gomezramones]

Hi Kris.

The problem persist with the Gyroscope. This are the value of registers Configuration and Gyroscope Configuration:

GYRO_CONFIG: 3 --> So FCHOICE_b[1:0] is 11 for CONFIG: 3 --> DLPF_CFG is 11 for 41Hz bandwidth and 1KHz

Raw data raw data Gx (MSB):255 raw data Gx (LSB):252 raw data Gx (MSB):0 raw data Gx (LSB):146 raw data Gx (MSB):0 raw data Gx (LSB):76 raw data Gx (MSB):0 raw data Gx (LSB):20 raw data Gx (MSB):255 raw data Gx (LSB):218 raw data Gx (MSB):0 raw data Gx (LSB):180 raw data Gx (MSB):1 raw data Gx (LSB):26 raw data Gx (MSB):0 raw data Gx (LSB):226 raw data Gx (MSB):0 raw data Gx (LSB):180 raw data Gx (MSB):1 raw data Gx (LSB):84 raw data Gx (MSB):1 raw data Gx (LSB):210 raw data Gx (MSB):0 raw data Gx (LSB):192 raw data Gx (MSB):1 raw data Gx (LSB):106 raw data Gx (MSB):1 raw data Gx (LSB):96

[kriswiner]

What is smplrtdiv?

Please copy my configuration settings and try again.

On Thu, Jan 31, 2019 at 11:00 AM gomezramones notifications@github.com wrote:

Hi Kris.

The problem persist with the Gyroscope. This are the value of registers Configuration and Gyroscope Configuration:

GYRO_CONFIG: 3 --> So FCHOICE_b[1:0] is 11 for CONFIG: 3 --> DLPF_CFG is 11 for 41Hz bandwidth and 1KHz

Raw data raw data Gx (MSB):255 raw data Gx (LSB):252 raw data Gx (MSB):0 raw data Gx (LSB):146 raw data Gx (MSB):0 raw data Gx (LSB):76 raw data Gx (MSB):0 raw data Gx (LSB):20 raw data Gx (MSB):255 raw data Gx (LSB):218 raw data Gx (MSB):0 raw data Gx (LSB):180 raw data Gx (MSB):1 raw data Gx (LSB):26 raw data Gx (MSB):0 raw data Gx (LSB):226 raw data Gx (MSB):0 raw data Gx (LSB):180 raw data Gx (MSB):1 raw data Gx (LSB):84 raw data Gx (MSB):1 raw data Gx (LSB):210 raw data Gx (MSB):0 raw data Gx (LSB):192 raw data Gx (MSB):1 raw data Gx (LSB):106 raw data Gx (MSB):1 raw data Gx (LSB):96

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[gomezramones]

Hi Kris, I realize that I call first InitMPU9250 and then CalibrationMPU9250, so all the configuration was screw because of that. But now the result of the gyroscope are: 1.05 5.94 -2.15 1.00 5.97 -2.08 0.97 5.85 -2.08 1.01 5.89 -2.11 0.97 5.94 -2.17 0.98 6.00 -2.17 0.95 6.00 -2.14 0.98 5.96 -2.15 0.96 5.97 -2.06 1.01 5.97 -2.03 0.97 5.92 -2.14 0.99 5.94 -2.17 1.04 5.81 -2.17 0.96 5.88 -2.17 1.05 5.85 -2.05 1.10 5.91 -2.12 1.06 5.96 -2.06 1.04 5.92 -2.04 1.00 5.81 -2.11 1.02 5.89 -2.13 1.00 5.97 -2.08 0.92 5.83 -2.04 0.98 5.84 -2.03 1.01 5.84 -2.06 1.01 5.77 -2.01 1.01 5.80 -2.04 0.99 5.85 -2.13 1.01 5.85 -2.08 0.98 5.91 -2.13 0.98 5.91 -2.16 1.04 5.91 -2.17 1.03 6.05 -2.17 1.07 5.91 -2.14 1.00 5.91 -2.13 1.05 5.87 -2.11

The results are not changing, but exists a offset in each axis. I guess the calibration function is not working properly. I checked the accelerometer values and there is a offset: -2.16 -0.08 3.09 -2.16 -0.08 3.09 -2.16 -0.08 3.09 -2.17 -0.08 3.08 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.16 -0.08 3.08 -2.17 -0.08 3.09 -2.16 -0.08 3.08 -2.16 -0.08 3.09 -2.16 -0.08 3.09 -2.16 -0.08 3.09 -2.16 -0.08 3.08 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.16 -0.08 3.09 -2.16 -0.08 3.08 -2.17 -0.08 3.08 -2.16 -0.08 3.09 -2.17 -0.08 3.08 -2.17 -0.08 3.08 -2.16 -0.08 3.09 -2.17 -0.08 3.08

[kriswiner]

Doesn't look right. Your code is messed up. Why not simply copy one of the skecthes in my repository that should work well?

On Thu, Jan 31, 2019 at 1:50 PM gomezramones notifications@github.com wrote:

Hi Kris, I realize that I call first InitMPU9250 and then CalibrationMPU9250, so all the configuration was screw because of that. But now the result of the gyroscope are: 1.05 5.94 -2.15 1.00 5.97 -2.08 0.97 5.85 -2.08 1.01 5.89 -2.11 0.97 5.94 -2.17 0.98 6.00 -2.17 0.95 6.00 -2.14 0.98 5.96 -2.15 0.96 5.97 -2.06 1.01 5.97 -2.03 0.97 5.92 -2.14 0.99 5.94 -2.17 1.04 5.81 -2.17 0.96 5.88 -2.17 1.05 5.85 -2.05 1.10 5.91 -2.12 1.06 5.96 -2.06 1.04 5.92 -2.04 1.00 5.81 -2.11 1.02 5.89 -2.13 1.00 5.97 -2.08 0.92 5.83 -2.04 0.98 5.84 -2.03 1.01 5.84 -2.06 1.01 5.77 -2.01 1.01 5.80 -2.04 0.99 5.85 -2.13 1.01 5.85 -2.08 0.98 5.91 -2.13 0.98 5.91 -2.16 1.04 5.91 -2.17 1.03 6.05 -2.17 1.07 5.91 -2.14 1.00 5.91 -2.13 1.05 5.87 -2.11

The results are not changing, but exists a offset in each axis. I guess the calibration function is not working properly. I checked the accelerometer values and there is a offset: -2.16 -0.08 3.09 -2.16 -0.08 3.09 -2.16 -0.08 3.09 -2.17 -0.08 3.08 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.16 -0.08 3.08 -2.17 -0.08 3.09 -2.16 -0.08 3.08 -2.16 -0.08 3.09 -2.16 -0.08 3.09 -2.16 -0.08 3.09 -2.16 -0.08 3.08 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.17 -0.08 3.09 -2.16 -0.08 3.09 -2.16 -0.08 3.08 -2.17 -0.08 3.08 -2.16 -0.08 3.09 -2.17 -0.08 3.08 -2.17 -0.08 3.08 -2.16 -0.08 3.09 -2.17 -0.08 3.08

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[gomezramones]

Hi Kris.

The code works fine thanks for your advice. I did all the calibration and the calculations of the angles are good, as well as linear acceleration. However, I have a little concern about convergence since the angles increase or decrease before changing the value in the correct. For example:

At the beginning the angle stabilize correctly at 32°, but when I increase the angle to 57° the code works a little strange because first decrease, then increase and otherwise.

[29676]

Hi ; I have a question; What MCU you used for this job?

[gomezramones]

ATMega2560 8bits. It will work but just bear in mind that it was a test. If you are going to implement for a product, just must have at least 32bits for a better performance and if it has a DSP better, since float operation is a overkilling for this type of MCU 8bits and in a certain point you are going to crash the code

[kriswiner]

I don't understand your question, but I would use this https://www.tindie.com/products/tleracorp/ladybug-stm32l432-development-board/ one.

On Tue, Jun 30, 2020 at 8:15 PM 29676 notifications@github.com wrote:

Hi ; I have a question; What MCU you used for this job?

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[29676]

Thanks I also want to do just one simple test with avr and then do it with arm32. Do you get Euler angles with atmega?