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Re: [Paparazzi-devel] Magnetometer freeze problem occurring AR Drone 2.0

From: Oswald Berthold
Subject: Re: [Paparazzi-devel] Magnetometer freeze problem occurring AR Drone 2.0
Date: Sun, 04 May 2014 22:53:39 +0200
User-agent: mu4e; emacs 24.3.1


last i know is andrew's message at the bottom of

which is also past the commits you're refering to.

bst, opt

opersupport writes:

> Hello,
> I am working on a project where I am executing my own code for the AR Drone
> 2.0. My project makes use of sensor readings and control of propellers. So
> far, the Paparazzi code base has been a great resource so far allowing me to
> see how driver code is implemented such that I can write something on my own
> to read sensors and talk to motors. Right now, I am re-using much of the
> functionality from the navdata.c
> Here is my slightly modified version, I removed the baro calibratoin stuff
> because I don’t plan on using this initially, but other than that, it should
> be mostly the same in terms of functionality
> I can read all sensor data fine (accel,gyro, altitude, etc), it works
> without problems except for the magnetometer data. It seems that the
> magnetometer values sometime get held at a constant value and no longer
> update. This happens in a few instances:
> a)    At first, I would read in successful magnetometer readings in my 
> program.
> I then terminate this program and sometimes after starting it up again, the
> values are held at a constant.
> b)    During my program execution, values are updating normally then suddenly
> get held at a constant
> c)    I’ve noticed that sometimes when moving the drone from a 
> stationary/still
> position and then moving it suddenly (ie: a change in attitude) will cause
> the magnetometer to fail as well.
> I have did some reading online on Github, from my understanding, there has
> been issues in the past with the magnetometer. For instance:
> On Jan 23rd there was a change to fix occasional magneto freeze issues. The
> code I am using should have the correct implementation of this (see pastebin
> link above) except for the fact that I am not calibrating the baro which I
> don’t believe should have an effect on the initialization issue. To simplify
> my tests, all I am doing is essentially calling IMU_Navdata_init () once,
> then looping with the IMU_Navdata_update( ) function to grab data from the
> serial port. When my program terminates, I close the file descriptor using
> IMU_Navdata_stop()
> To summarize further: I am also using firmware version v*2.4.8. I also kill
> the respawner script ( and the programs
> (program.elf ) *prior to running my code. *Again, I can get all other IMU
> data in fine; it’s just the magnetometer which still suffers from the freeze
> issue despite having matching initialization code*. Could it be that there
> may be hardware issues with my navigation board?
> Please let me know if there are further steps I can take to better
> understand the issue. What other tests can I perform?
> --
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