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sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black
BSD 3-Clause "New" or "Revised" License
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/Imu/data values never change #29

Closed sgcarrier closed 7 years ago

sgcarrier commented 7 years ago

The values published in /imu/data for the orientation never change or change very slowly. My initial guess is that since /imu/data_raw and /imu/mag are on different nodes now, the Magwick filter can't find matching timestamps for both. Or, that the scale of one of the instruments has been reduced ( and thus the very slow movement).

sbrodeur commented 7 years ago

The problem comes from the l3gd20 gyroscope driver, where the sensitivity is not applied and thus the results are not in udps as expected: https://github.com/sbrodeur/ros-icreate-bbb/blob/master/src/imu/drivers/l3gd20/l3gd20.c#L667

I think this was commented out to avoid overflows.

sbrodeur commented 7 years ago

The orientation problem is fixed with commit 8a986ce. We only need to figure out why soft-iron correction doesn't work anymore (and was thus deactivated).

sbrodeur commented 7 years ago

Tested and fixed with commit 4db406b.