Hi all,
I am looking for an example of what the ArduIMU data looks like.
One can log it using e.g. Logomatic or another SD card shield.
Please post you data here or email me.
All formats are OK.
Thanks,
Jan
janmartin AT diy-streetview DOT org.
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Replies
Sample serial string with the ArduIMU+ V2 with the following settings:
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#define BOARD_VERSION 2 // 1 For V1 and 2 for V2
#define GPS_CONNECTION 1 // 0 for GPS pins, 1 for programming pins
// GPS Type Selection - Note Ublox or MediaTek is recommended. Support for NMEA is limited.
#define GPS_PROTOCOL 1 // 1 - NMEA, 2 - EM406, 3 - Ublox, 4 -- MediaTek
// Enable Air Start uses Remove Before Fly flag - connection to pin 6 on ArduPilot
#define ENABLE_AIR_START 0 // 1 if using airstart/groundstart signaling, 0 if not
#define GROUNDSTART_PIN 8 // Pin number used for ground start signal (recommend 10 on v1 and 8 on v2 hardware)
/*Min Speed Filter for Yaw drift Correction*/
#define SPEEDFILT 2 // >1 use min speed filter for yaw drift cancellation (m/s), 0=do not use speed filter
/*For debugging propurses*/
#define PRINT_DEBUG 0 //Will print Debug messages
//OUTPUTMODE=1 will print the corrected data, 0 will print uncorrected data of the gyros (with drift), 2 will print accelerometer only data
#define OUTPUTMODE 1
#define PRINT_DCM 0 //Will print the whole direction cosine matrix
#define PRINT_ANALOGS 0 //Will print the analog raw data
#define PRINT_EULER 1 //Will print the Euler angles Roll, Pitch and Yaw
#define PRINT_GPS 1 //Will print GPS data
// *** NOTE! To use ArduIMU with ArduPilot you must select binary output messages (change to 1 here)
#define PRINT_BINARY 0 //Will print binary message and suppress ASCII messages (above)
// *** NOTE! Performance reporting is only supported for Ublox. Set to 0 for others
#define PERFORMANCE_REPORTING 0 //Will include performance reports in the binary output ~ 1/2 min
/* Support for optional magnetometer (1 enabled, 0 dissabled) */
#define USE_MAGNETOMETER 0 // use 1 if you want to make yaw gyro drift corrections using the optional magnetometer
// Local magnetic declination
// I use this web : http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp
#define MAGNETIC_DECLINATION -20.0 // corrects magnetic bearing to true north
/* Support for optional barometer (1 enabled, 0 dissabled) */
#define USE_BAROMETER 0 // use 1 if you want to get altitude using the optional absolute pressure sensor
#define ALT_MIX 50
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With the above settings, the string, without a GPS connected, will look like this:
!!!VER:1.8.1,RLL:1.14,PCH:-0.05,YAW:134.05,IMUH:255,TOW:0***
With a GPS (I use a 5Hz LS20031) this is what i get with a GPS connected:
!!!VER:1.8.1,RLL:1.14,PCH:-0.05,YAW:34.05,IMUH:253,TOW:21230360***
!!!VER:1.8.1,RLL:1.13,PCH:-0.06,YAW:34.03,IMUH:253,LAT:499247361,LON:-1193955623,
ALT:3525,COG:0,SOG:0,FIX:1,SAT:9,TOW:21230380***
!!!VER:1.8.1,RLL:1.12,PCH:-0.07,YAW:34.03,IMUH:253,LAT:499247361,LON:-1193955623,
ALT:3525,COG:0,SOG:0,FIX:1,SAT:9,TOW:21230400***
(As you can see the GPS data is not updated with every IMU string
There is no carrige return/line feed between Lon and Alt, but it wouldn't fit on the post if i didn't break it.)
COG is course over ground
SOG is speed over ground
ALT is meters above sea level * 10, so my altitude is actually 352.5M ASL
the only other value i'm not sure about is IMUH, which I assume to be IMU health, as it's almost always 255, meaning 100%, but again, i'm not sure if that is correct.
Let me know if there's any other code you need.
Scotty