stevehayles Posted July 20, 2018 at 10:09 AM Posted July 20, 2018 at 10:09 AM Hi, One for the developers and hopefully not a difficult change. The IMU v2 based on the Bosch BNO055 which has more 'sensor fusion modes' than we have options for. In testing the unit I have found that the FMC (fast magnetometer calibration) is troublesome and makes yaw / compass / heading output very unrepeatable. There is a fusion mode called 'NDOF_FMC_OFF' (0b00001011) which is the same as the BrickIMUV2.SENSOR_FUSION_ON mode but has the auto calibration routine for the magnetometer disabled. You can still store a full calibration profile and all other functions are the same. Using the same chip in an Arduino device has resulted in a more stable system without the unexplained 'jumps' in yaw output that are often seen in the NDOF mode It looks like a simple enough change with no backward compatibility issues ? Thanks for your consideration Quote
borg Posted July 20, 2018 at 01:26 PM Posted July 20, 2018 at 01:26 PM Sounds useful to me, i will implement it. Quote
borg Posted July 20, 2018 at 02:00 PM Posted July 20, 2018 at 02:00 PM I just released IMU Brick V2 firmware 2.0.13 with the new parameter. Call set_sensor_fusion_mode with 3. The new constant will be available with the next Bindings release. Changes: https://github.com/Tinkerforge/imu-v2-brick/commit/cb5d24238a7e403ba1cb981c574e093d63176ebd https://github.com/Tinkerforge/imu-v2-brick/commit/2d1e81f59339a4ea83eb09d3fe3dbc0a8b822366 https://github.com/Tinkerforge/generators/commit/f4f2a0d3b1660fb45aaf19d65b9bf1a51a7dfbe9 I tested with this small script and played around in Brick Viewer. I think i can see the difference between the two modes. #!/usr/bin/env python # -*- coding: utf-8 -*- HOST = "localhost" PORT = 4223 UID = "6xEivJ" # Change to your UID from tinkerforge.ip_connection import IPConnection from tinkerforge.brick_imu_v2 import BrickIMUV2 if __name__ == "__main__": ipcon = IPConnection() # Create IP connection imu = BrickIMUV2(UID, ipcon) # Create device object ipcon.connect(HOST, PORT) # Connect to brickd imu.set_sensor_fusion_mode(3) print(imu.get_sensor_fusion_mode()) Quote
stevehayles Posted July 21, 2018 at 12:27 PM Author Posted July 21, 2018 at 12:27 PM Hi, Tested and working here. Thank you for the amazingly fast response. The BNO055 has some quirks around the magnetometer and compass / absolute yaw output. My testing has shown the mode to be useful. Thanks again Quote
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