IMU data from Reach Kit

Thanks! I will try and report back if I get it to work. I also found some information here: Getting IMU data

edit: where in the specs did you find the password?
edit2: it’s mentioned in the reachView documentation: https://docs.emlid.com/reach/common/reachview/

That’s actually wifi password which is mentioned there. Yes, this is the same. But I probably found the information here: https://github.com/emlid/reach-docs/blob/old-docs/docs/software-development.md (too bad this page is not available any more).

Has anybody tried to get the IMU data from reach kit?
How can I do it from putty? Can someone gimme a brief? Is it tough process?

Same question, would need the IMU data for a robotics project

@igor.vereninov, I would also be interested in the raw IMU data from the MPU9250 for use in post processing the nav solution of a point on the vehicle. It would be good enough for me if the full 200Hz data could be logged onboard or externally. Has anyone successfully done this ?

I got this to work quickly using this code:


For a quick test:
pip install spidev

change line 6 in IMU.py to
imu = MPU9250(spi_bus_number = 5, spi_dev_number = 1)

and run python IMU.py
will output the sensor values until you abort
e.g.
Acc: -0.006 +0.081 +0.990 Gyr: +2.317 +1.098 +0.854 Mag: +37.691 +14.026 +21.0451

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Can you give the novice guide to how you used the python code to start getting data out of the reach? How did you connect, where did you store and run? Thx.

…success after messing around with it for a little bit.

Steps for someone else:
logged into the reach as root:
used a file manager window and connected to the reach as a server.
copied the files (modified as above) into a new directory /imu
SSH into the reach root@xxx.xxx.xx.xx
cd in /imu
python IMU.py
started spitting out numbers the look reasonable. Need to figure out how to make sence of the Gyr and Mag readings.

Seems like you could modify the script to send these values to a TPC address/port and get the numbers out in a stream.

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ANyone know a good way to convert the output to roll pitch yaw? I am getting the following output following ago’s method

.
.
.
Acc: +0.047 -0.003 +0.994 Gyr: -0.915 +0.183 +0.610 Mag: -11.795 +4.275 -78.898
Acc: +0.055 +0.004 +1.010 Gyr: -0.854 +0.061 +0.549 Mag: -11.795 +4.275 -78.898
Acc: +0.047 -0.007 +1.009 Gyr: -0.671 -0.122 +0.610 Mag: -11.795 +4.275 -78.898
Acc: +0.048 -0.013 +0.980 Gyr: -0.732 -0.061 +0.427 Mag: -9.293 -0.356 -77.175
Acc: +0.056 -0.007 +1.006 Gyr: -0.793 +0.183 +0.427 Mag: -9.293 -0.356 -77.175
Acc: +0.054 -0.008 +1.006 Gyr: -0.915 +0.000 +0.427 Mag: -9.293 -0.356 -77.175
Acc: +0.057 -0.010 +0.992 Gyr: -0.854 +0.000 +0.488 Mag: -9.293 -0.356 -77.175
.
.
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Do a lot of math…or use RTIMULib2, which does all of the math for you. Search for other posts on the forum for the IMU and using the RTIMULib2 implementation to get useful data out.

Here’s how I did it. https://github.com/87yj/EmlidIMU

There’s also a RTIMULib2 branch on the forum that’s parsed out all of the GUI stuff.

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We’ve made some ROS node to get IMU values out of the reach. We tested it successfully for reach M+. It’s based on the RTIMULib2 that we compiled for the reach, for reasons we were not able to compile directly on it. Let us know if there are issues we’ll update the readme and make the required edit to the code. This outputs IMU message (Pose + Gyros + Accel) and the Compass as a MagneticField message.

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Hello,

I’m using your code for a moment but now I need to get the IMU data WITH the GPS data on the serial ouput (with OTG). Did you find a solution to do this?

Thanks,

Jimmy

Hi All,

Is there any update on when these data might be available alongside the GPS to download through the wifi interface (or some other way)?

IMU is on our to-do list, however, it is not yet implemented in ReachView. The good news is that the driver for the sensor is installed and you make use of it if you know Linux and programming.

Hi Igor,

Its been quite a long time since this conversation indicated the IMU data would be extractable from within ReachView.

The IMU data for a mobile platform such as a drone, is important for establishing the accurate location relative to the pitch, roll and yaw of the craft and to have a separate device to obtain this is another level of complexity that should be avoided.

Can you give an update on this 2016 discussion for when we can expect this in 2019.

Kind regards, Steve

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Is the IMU module in RS+ and RS2 the same? Can it be accurate to mm level or within 2cm level?

@dolnz @l3technologycambodia, it’s WIP, we can’t provide exact dates on when it will be ready.

Hi Andrew,

Are you able to indicate the progress to date and what that looks like?

Regards, Steve.

We’ll release the feature as soon as it’ll be ready, @dolnz.
At the moment I can’t provide any additional info.

@andrew.yushkevich… is it available yet?

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No, it’s not available, @jantjj. We’ll let everyone know when this happens.
As before, the driver for the sensor is installed and you can use it if you know Linux and programming.