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kriswiner / MPU9250

Arduino sketches for MPU9250 9DoF with AHRS sensor fusion
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calculation yaw from mpu 9250 #459

Open Aturgut45 opened 3 years ago

Aturgut45 commented 3 years ago

Hi Kris I have a problem. I have read your all comment. But ı havent solved my problem. I calibrated my all sensor (Accel, gyro and mag). I get 9 data very well. Although I apply all your formula, I dont have good yaw angle. Couldu you help me please?

kriswiner commented 3 years ago

How did you check your sensor calibration? And what is your MCU and fusion rate?

On Mon, May 31, 2021 at 6:07 AM Aturgut45 @.***> wrote:

Hi Kris I have a problem. I have read your all comment. But ı havent solved my problem. I calibrated my all sensor (Accel, gyro and mag). I get 9 data very well. Although I apply all your formula, I dont have good yaw angle. Couldu you help me please?

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Aturgut45 commented 3 years ago

First of all thank you for your reply me. I follow your study. They are very useful. mpu 9250.txt This is my study.
I use your mag calibration code. But data is very strange. After, I get mx,my and mz data. I used this data on Magneto 1.2 program. This program helps me to find bias and scale matrix. ı put my code Bias and Scale data to calibrate magnetometer. This job was very good. My mx,my and mz data is very acceptable. for exp: mx:-0,29 my:-0,37 mz:0 I think this value is good. If you dont have time to examine my code, ı apply this //apply offsets (bias) and scale factors from Magneto tempt[0] = (Mxyz[0] - M_b[0]); tempt[1] = (Mxyz[1] - M_b[1]); tempt[2] = (Mxyz[2] - M_b[2]); Mxyz[0] = M_Ainv[0][0] tempt[0] + M_Ainv[0][1] tempt[1] + M_Ainv[0][2] tempt[2]; Mxyz[1] = M_Ainv[1][0] tempt[0] + M_Ainv[1][1] tempt[1] + M_Ainv[1][2] tempt[2]; Mxyz[2] = M_Ainv[2][0] tempt[0] + M_Ainv[2][1] tempt[1] + M_Ainv[2][2] * tempt[2];

mx = Mxyz[0]; my = Mxyz[1]; mz = Mxyz[2];

Thank you

Aturgut45 commented 3 years ago

Also ı dont know about MCU and fusion rate. Could you explain me please? Thank you again.

kriswiner commented 3 years ago

I can;t debug your code. How did you test the accuracy of your sensor calibration? What MCU are you using and what fusion rate does it achieve? What are you using for a sensor fusion algorithm?

On Mon, May 31, 2021 at 9:10 AM Aturgut45 @.***> wrote:

First of all thank you for your reply me. I follow your study. They are very useful. mpu 9250.txt https://github.com/kriswiner/MPU9250/files/6571320/mpu.9250.txt This is my study. I use your mag calibration code. But data is very strange. After, I get mx,my and mz data. I used this data on Magneto 1.2 program. This program helps me to find bias and scale matrix. ı put my code Bias and Scale data to calibrate magnetometer. This job was very good. My mx,my and mz data is very acceptable. for exp: mx:-0,29 my:-0,37 mz:0 I think this value is good. If you dont have time to examine my code, ı apply this //apply offsets (bias) and scale factors from Magneto tempt[0] = (Mxyz[0] - M_b[0]); tempt[1] = (Mxyz[1] - M_b[1]); tempt[2] = (Mxyz[2] - M_b[2]); Mxyz[0] = M_Ainv[0][0] tempt[0] + M_Ainv[0][1] tempt[1] + M_Ainv[0][2]

  • tempt[2]; Mxyz[1] = M_Ainv[1][0] tempt[0] + M_Ainv[1][1] tempt[1] + M_Ainv[1][2]
  • tempt[2]; Mxyz[2] = M_Ainv[2][0] tempt[0] + M_Ainv[2][1] tempt[1] + M_Ainv[2][2]
  • tempt[2];

mx = Mxyz[0]; my = Mxyz[1]; mz = Mxyz[2];

Thank you

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kriswiner commented 3 years ago

What microcontroller are you using to manage the sensors and perform the sensor fusion?

On Mon, May 31, 2021 at 9:12 AM Aturgut45 @.***> wrote:

Also ı dont know about MCU and fusion rate. Could you explain me please? Thank you again.

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Aturgut45 commented 3 years ago

Actually I didint control mag calibration. How can I do this section? How can I find fusion rate? My sensor fusion algoritm is

ifdef RESTRICT_PITCH

roll = atan2(ay, az) RAD_TO_DEG; pitch = atan(-ax / sqrt(ay ay + az az)) RAD_TO_DEG;

else // Eq. 28 and 29

roll = atan(ay / sqrt(ax ax + az az)) RAD_TO_DEG; pitch = atan2(-ax, az) RAD_TO_DEG;

endif

I just use Arduino Mega and MPU 9250.

kriswiner commented 3 years ago

This is not sensor fusion...no way you are going to get accurate YAW like this. Maybe try something else https://github.com/kriswiner/MPU9250/tree/master/AK8963_as_slave?

And if you don't calibrate your sensors you will never get good results.

On Mon, May 31, 2021 at 1:30 PM Aturgut45 @.***> wrote:

Actually I didint control mag calibration. How can I do this section? How can I find fusion rate? My sensor fusion algoritm is

ifdef RESTRICT_PITCH

roll = atan2(ay, az) RAD_TO_DEG; pitch = atan(-ax / sqrt(ay ay + az az)) RAD_TO_DEG;

else // Eq. 28 and 29

roll = atan(ay / sqrt(ax ax + az az)) RAD_TO_DEG; pitch = atan2(-ax, az) RAD_TO_DEG;

endif

I just use Arduino Mega and MPU 9250.

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Aturgut45 commented 3 years ago

Sorry Kris. My sensor fusion code is // 3. deneme double Mx = mx cos(pitch) + my sin(roll) sin(pitch) + mz cos(roll) sin(pitch); double My = my cos(roll) - mz * sin(roll);

/ ikinci deneme double My = mz sin(roll) - my cos(roll); double Mx = mx cos(pitch) + my sin(pitch) sin(roll) + mz sin(pitch) cos(roll); / / //bizim ilk eklediğimiz float Mx = mx cos(pitch) + mz sin(pitch); float My = mx sin(roll) sin(pitch) + my cos(roll) - mz sin(roll) cos(pitch);/

double yaw = atan2(-My, Mx) * RAD_TO_DEG;

There are three different ways. But they are not working. Could you check my code plz?

Aturgut45 commented 3 years ago

ı think you offer me to use quaternion code. Actually ı have tried this. But Q values are always zero. I have a big problem

kriswiner commented 3 years ago

your fusion code will never work well.

On Mon, May 31, 2021 at 2:22 PM Aturgut45 @.***> wrote:

ı think you offer me to use quaternion code. Actually ı have tried this. But Q values are always zero. I have a big problem

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Aturgut45 commented 3 years ago

Again Hi Kris, Can you meet on Skype, If you have short time? I would be very pleased. I realy need your help. Thank you My Skype ID is aykutturgut45@gmail.com

kriswiner commented 3 years ago

Sorry no.

On Tue, Jun 1, 2021 at 2:31 AM Aturgut45 @.***> wrote:

Again Hi Kris, Can you meet on Skype, If you have short time? I would be very pleased. I realy need your help. Thank you My Skype ID is @.***

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