IMU drifting issue

[mukmalone]

IMU is continuously drifting/rotating. Here are the things I've tried and still need to try:

• [x] recalibrating with special attention to the angles of the calibration and ensuring it is always orthogonal
• [x] rebooting after each teensy board update. the thinking was there was a cumulation of error everytime I picked up my robot and moved it to my stand
• [x] try running with magnometer off
• [x] calibrate according to this issue. It outlines the magnetic field with the motors on can cause errors & to disable using the magnometer

[mukmalone]

Issue is actually z. The magnetic field looks pretty stable: linear_acceleration: x: -0.0526904314756 y: 0.344882816076 z: 9.73335933685 angular_velocity: x: 0.288845330477 y: 0.340539038181 z: 0.418879032135 magnetic_field: x: -4.20000014856e-06 y: 2.10000016523e-05 z: -2.88000010187e-05

linear_acceleration: x: 0.340092778206 y: 0.215551763773 z: 10.3656454086 angular_velocity: x: 0.285780996084 y: 0.312027573586 z: 0.421143949032 magnetic_field: x: -4.80000016978e-06 y: 2.10000016523e-05 z: -3.12000011036e-05

linear_acceleration: x: -0.177231445909 y: -0.100590825081 z: 9.31662654877 angular_velocity: x: 0.288312405348 y: 0.338140875101 z: 0.422343015671 magnetic_field: x: -4.20000014856e-06 y: 2.10000016523e-05 z: -2.88000010187e-05

linear_acceleration: x: -0.0191601570696 y: 0.258662134409 z: 9.83874034882 angular_velocity: x: 0.284715145826 y: 0.32854822278 z: 0.421943336725 magnetic_field: x: -5.400000191e-06 y: 1.92000006791e-05 z: -3.06000001729e-05

linear_acceleration: x: 0.210761725903 y: 0.234711930156 z: 10.3177442551 angular_velocity: x: 0.289245009422 y: 0.336009174585 z: 0.421143949032 magnetic_field: x: -4.80000016978e-06 y: 2.10000016523e-05 z: -3.00000010611e-05

linear_acceleration: x: 0.0526904314756 y: 0.292192399502 z: 9.95849132538 angular_velocity: x: 0.288712084293 y: 0.338140875101 z: 0.410352230072 magnetic_field: x: -6.60000023345e-06 y: 2.10000016523e-05 z: -3.12000011036e-05

[mukmalone]

raw_imu

linear_acceleration: x: 0.205971688032 y: 0.205971688032 z: 9.94891166687 angular_velocity: x: 0.287779480219 y: 0.344402760267 z: 0.417679935694 magnetic_field: x: -6.00000021223e-07 y: 2.10000016523e-05 z: -2.70000018645e-05

linear_acceleration: x: 0.287402361631 y: 0.258662134409 z: 9.95370197296 angular_velocity: x: 0.291509956121 y: 0.340539038181 z: 0.4228759408 magnetic_field: x: -6.00000021223e-07 y: 2.10000016523e-05 z: -2.76000009762e-05

linear_acceleration: x: 0.263452172279 y: 0.220341801643 z: 9.91538143158 angular_velocity: x: 0.284981608391 y: 0.340006113052 z: 0.40968605876 magnetic_field: x: 0.0 y: 2.10000016523e-05 z: -2.8200001907e-05

[mukmalone]

imu/data_raw

header: seq: 29553 stamp: secs: 1619190301 nsecs: 85078331 frame_id: "imu_link" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025] angular_velocity: x: 0.176695257183 y: 0.228519544916 z: 0.346868866734 angular_velocity_covariance: [1e-06, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 1e-06] linear_acceleration: x: 3.70235688446 y: -3.55589934299 z: 13.7895843524 linear_acceleration_covariance: [0.0001, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001]

header: seq: 29554 stamp: secs: 1619190301 nsecs: 163241368 frame_id: "imu_link" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025] angular_velocity: x: 3.70772272324 y: 4.15271239074 z: 0.0626866311354 angular_velocity_covariance: [1e-06, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 1e-06] linear_acceleration: x: 3.57187026749 y: -3.40229565222 z: 13.9825072037 linear_acceleration_covariance: [0.0001, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001]

[mukmalone]

imu/data

header: seq: 29553 stamp: secs: 1619190301 nsecs: 85078331 frame_id: "imu_link" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025] angular_velocity: x: 0.176695257183 y: 0.228519544916 z: 0.346868866734 angular_velocity_covariance: [1e-06, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 1e-06] linear_acceleration: x: 3.70235688446 y: -3.55589934299 z: 13.7895843524 linear_acceleration_covariance: [0.0001, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001]

header: seq: 29554 stamp: secs: 1619190301 nsecs: 163241368 frame_id: "imu_link" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025] angular_velocity: x: 3.70772272324 y: 4.15271239074 z: 0.0626866311354 angular_velocity_covariance: [1e-06, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 1e-06] linear_acceleration: x: 3.57187026749 y: -3.40229565222 z: 13.9825072037 linear_acceleration_covariance: [0.0001, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001]