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url-kaist / kaistviodataset

"Visual-Inertial Dataset" (RA-L'21 with ICRA'21): it contains harsh motions for VO/VIO, like pure rotation or fast rotation with various motion types.
GNU General Public License v3.0
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Method to log the IMU data #1

Closed Airrey97 closed 3 years ago

Airrey97 commented 3 years ago

Excuse me, I wonder how to get the IMU data from pixhawk with a high frequency(such as 100Hz or more)? Do you use Mavros to connect the px4 with onboard computer?

zinuok commented 3 years ago

Excuse me, I wonder how to get the IMU data from pixhawk with a high frequency(such as 100Hz or more)? Do you use Mavros to connect the px4 with onboard computer?

Yes. I used mavros to get data from px4. To get the IMU data at such a fast frequency, you first need to change the settings of pixhawk. You should change the file inside the sd card inserted into the pixhawk. This is solved by including the following in /etc/extras.txt on the sd card:

mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100 mavlink stream -d /dev/ttyACM0 -s ATTITUDE_QUATERNION -r 100 mavlink stream -d /dev/ttyACM0 -s HIGHERS_IMU -r 100

for more information, please refer mavlink/mavros#589 Sincerely

Airrey97 commented 3 years ago

Thank you! I will have a try