@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 ?
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
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.
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.
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.
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?
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.
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.
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.