As I stated in my first message, I have already run the calibration with the VG-AHRS app.
Also, I'm not using the python driver. I'm accessing the raw serial interface.
Now, having looked at the EKF code, the IMU's current firmware does not support having X/Y axes not on the horizontal plane (no correction is done on the Z axis), which won't work for me since it is mounted sideways (that is, with Y up and Z sideways).
To be clearer: I send through serial 'm', 'a', 0x1 (packet prelude and checksum omitted)
Then, repeatedly I send 'm', 'a', 0x0 which replies with a status of 0x1 (which I expect). It never goes to zero.
Ah. I assumed the calibration was happening on the IMU. I'm not using the Aceinna python driver, the IMU is embedded in a low-power board inside the system, and using the python stuff is just too cumbersome.
I was basically sending the MA commands through my C++ driver. Is there any way to perform the calibration "offline" ? I.e. logging the data and then doing the calibration ?
I've tried to run the magnetic alignment process. With autoend, it never finishes. Without autoend, the stop command does not make it stop.
I flashed the VG-AHRS app v1.1.3
One peculiarity is that the IMU is mounted sideways. Could that be the problem ? Is it an issue in general with the OpenIMU ?
I have created EP. The NAK was caused by a bug I introduced somewhere in the packet-to-type conversion logic. As was, it seems, the issue with flashing the firmware.
Thanks for the confirmation.
For those that would be interested, I've written down a protocol documentation - it has some stuff that's specific to our firmware, but most of it isn't: https://github.com/tidewise/drivers-imu_aceinna_openimu/blob/master/Protocol.md
OK ... so it seems that it was my fault. Sorry for the noise guys.
So, for the record, it seems that this packet is sent by the unit in case an invalid message is sent to it.
Can someone from AceINNA confirm this ?
Hi guys. Thanks for the info
To clear any confusion: the unit boots fine. The problem I have is that it becomes non-responsive after a JA command, which means that I can't upload a new firmware through the UART (works fine with JTAG)