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robotology / yarp-device-xsensmt

YARP Device Driver for XSens MT* devices based on the MT Software Suite.
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The measurements can go to zero occasionaly #5

Closed S-Dafarra closed 6 years ago

S-Dafarra commented 6 years ago

During some experiments it happened that the raw measurement coming from the IMU dropped to zero for about 20ms. dropimu cc @traversaro @DanielePucci

traversaro commented 6 years ago

I suspect that we are missing some checks in https://github.com/robotology-playground/xsensmt-yarp-driver/blob/master/xsensmt/XsensMT.cpp#L221 , but it is difficult to know without further information. It would be helpful to know if only the orientation measurement is going to zero or also the other measurements.

S-Dafarra commented 6 years ago

Thanks @traversaro! Actually only the orientation goes to zero! I did not notice it in a first instance. screenshot from 2018-02-20 13-07-27 Here a zoomed version screenshot from 2018-02-20 13-10-31

traversaro commented 6 years ago

Then I think that for the other measurements the validity checks are enforced by if [...].size == 3, but there is no such check for euler orientation: https://github.com/robotology-playground/xsensmt-yarp-driver/blob/master/xsensmt/XsensMT.cpp#L229 .

traversaro commented 6 years ago

Can you check if the fix in https://github.com/robotology-playground/xsensmt-yarp-driver/issues/5 is working? Thanks