NavView 3.5.11.zip

7340-1840-01 User Manual, INS330BI-20210423.pdf

INS330BI-x Pin_Definition R1.1 - only master.xlsx

INS system.zip
IMU330RA_Upgrade_Tool.zip
IMU330RA_general-20230725》=33.00.09.dbc
IMU330RA_general-20230725《=33.00.08.dbc
NavView 3.5.12.2.zip
IMU330RA_general-20240205-33.00.12.dbc
PCANtool-v1.0.zip
IMU330RA_general-20240205-33.00.18.dbc
IMU330RA_general-202500820-0.1.0.dbc
IMU330RA_general-202500904-0.1.0.dbc

Please note that if the length of packet is a bit long, you also need to adjust baud rate to 230400 or higher.

how can we set baud rate higher than 230400?
since the available options are
{ "paramId": 2, "category": "General","paramType": "select", "type": "int64", "name": "Baud Rate", "argument": "baud_rate","value_range":[-1,1], "value_accuracy":6, "options": [115200, 57600, 230400, 38400] },

Here is the section from my launch file which I use to launch both nodes:

  <<node pkg="ros_openimu"  type="openimu_driver.py" name="openimu1_driver" output="screen">
       <param name="timestamp_offset"  value=" 0.0" />
       <param name="imu_port"          value="/dev/openimu1" />
       <remap from="/imu_acc_ar"   to="/ptu1/imu"/>
  </node>>

  <<node pkg="ros_openimu"  type="openimu_driver.py" name="openimu2_driver" output="screen">
       <param name="timestamp_offset"  value=" 0.0" />
       <param name="imu_port"          value="/dev/openimu2" />
       <remap from="/imu_acc_ar"   to="/ptu2/imu"/>
  </node>>

Selecting the embedded option come to a new pages where I can select "ACEINNA IMU - Open-source, embedded development platform for Aceinna IMU hardware. Run custom algorithms and navigation code on Aceinna IMU/INS hardware." This begins to load a GitHub page which quickly crashes the Aceinna extension leaving a blank page and no option but to close the extension and start again.

Selecting the Desktop option leads to an error "Native development platform depends on a system gcc. Please install it before and check gcc --version command.". Both systems have gcc installed and up to date.

I have a OpenIMU300RI and just want to update the OpenIMU.json file to enable the e1 message type

I already have OpenIMU335RI product, but I am having some trouble when use RS232 protocol.

First, I want to interact with the IMU. Let's say I want to change the default coordinate system into my coordinate has Orientation Field Value 0x0041 as below picture:

I had follow step by step in using RS232, but I still don't know hot to send the right packet to IMU.

I don't know the hex code of Payload that I need to send. With the byte offset 4, that is parameter value, i guess that is 0x0041, but with the byte offset 0, offset of parameter in unit config structure, I don't know exactly value.
So, can you give me the exactly packet I need to send to IMU. I only need an example, after that I will understand.

Second, I want to take data from IMU. Let's say I want to take data from packet s1 as:

And the payload content is:

Same as above, I still don't know the exactly packet to send to IMU and take data from it.

I am looking forward hearing from anyone of you, thank you very much!

hello

Im trying to make parsing code using matlab.

But I can't figure out how to calculate Magnetometer data.

Please explain how this data packet works.

And I don't understand why Magnetic Field Z have over value even though Range it said -8 to 8.

I am currently not able to permanently save my settings.
I was working with the Web app configuring my IMU, which worked out pretty good in first place.
I manged to download & install the VG AHRS firmware, select the desired "a2" package and save the configuration which would work fine in the first place

Trying to rearrange the frame inside the settings panel did not work in the way i assumed it to work.
In my case i need the z axis poiting upwards which configuring.

For the Heading part the changes did not apply (acts as z points downwards) - Later i found out that the angular rates and acceleration changed according to the new settings.

Since I wanted to have all data be inline rather than later negating some values I checked in NAV-VIEW if i am able to get to the desired result.

There I was able to select and display the "ANGLE2" package which i thought is the actual "a2" package.
But here accelerations are in g rather than m/s2 - i did not manage to select the actual "a2" package in this Software. I was using the " Manage/Load Factory configurations" part.

Going back to the Web app I am not able to save any settings made in there - its always going back to the latest changes done in NAV VIEW.

My question would be if it is possible to make some kind of factory reset ? Or configure the IMU via NAV-VIEW as desired getting the actual right "a2" package running. Or the hex commands to select the a2 package which I could append in the software.
I already tried to reinstall both available official firmware.

On CAN there are three frame IDs being streamed, one for each sensor.
Each CAN frame contains the measurements for each axis, though the interpretation seems to be inconsistent and different from the default coordinate frame shown in the user manual.

I am using imu_filter_madgwick https://github.com/CCNYRoboticsLab/imu_tools/tree/galactic/imu_filter_madgwick/ with the decoded measurements from CAN.

When including magnetometer readings in the orientation estimate, something very weird happens. If I apply a yaw rotation the estimate is reasonable, but with pitch/roll rotations, as soon as the IMU becomes still and the magnetometer reading becomes stable, the estimated orientation starts drifting, eventually stabilizing to a wrong orientation. This suggests a conflict between the magnetometer reading and the motion estimated by the gyro and accelerometer.

Can someone point me to how the exact way the readings streamed through CAN should be interpreted for a default 300RI setup?

Also using the UART Command Runner does not work - sending the rD request via the website give the response "The device cannot response the command"

I made a Backup via the website on january 18th, if this is necessary

I'd like to reset the IMU since I am unsure that the changes I want to save are actually saved to the IMU, since on restart my results vary (offset in heading for the same orientation)

Hello, I was facing the same issue as in the quoted post.
I was playing around with the factory settings of my IMU in the "NAV-VIEW" applications
Since I wanted to use the VG algorithm and be able to track the data in the app (which was limited to standard acc, ang rates, mag values), I was chaning for e.g the architecture to "VG-350" and tried other settings like "Stationary Yaw Lock"

However, at one point i wasn't able to receive data anymore nor to connect via Windows to the NAV-VIEW. On my Ubuntu device the connection worked so i decided to flash the base version of VG_AHRS 03.03.01. I was able to select & configure the IMU via the Aceinna Webserver but didnt receive data anymore, like mentioned in the quoted post.

Comparing the settings from the broken IMU with a functional one showed that somehow the calibration data was corrupted.

After adding some random values via the "Load Calibration Data" inside NAV-VIEW fixed the problem and the IMU was sending data again

I've used the OpenIMU300RI with VG_AHRS firmware and I believe it was outputting all three yaw, pitch, and roll values.

Any help would be appreciated, thank you.

I've recently encountered a problem connecting to the openIMU both to the online tool and locally, previously this worked fine but after a few updates to the firmware connection is no longer possible even after reverting these changes and going back to default firmware (programming the device works).

The firmware application is "INS Application", version "OpenIMU300ZI INS 1.1.1"

When entering the jamming area, a 3rd party GPS analyzer shows that no satellites are available, and the GPS location received from OpenIMU starts experiencing substantial drift, but no indication is given that the GPS signal was lost.

I retrieve data from "e2" payload, and the value of opMode is 4 (as normal).

Thanks!

Now, we are trying to get back to the original status of OpenIMU330BI.

We do build and flash the bin file using ST-Link Utility program.
Address: 0x08000000 || Data width 32 bits.

However, the bin file built is based on the OpenIMU300RI which use openimu300 board.

When we reload the bin file built using OpenIMU330BI-VG code, the Openimu330bi board show only 0 values in x,y,z accel and x,y,z gyro.

So, we want to get back to the original status.

Please let us know how to do factory reset.

BR.

Fortunately, we succeeded in uploading the bin file to the 330bi through the ST Link Utility.

However, one final barrier remains.

I want to receive Roll and Pitch values ​​as well as Acceleration and Gyro from the 330BI. However, there are no roll and pitch values ​​in the z1 packet.

So, I am testing it simply by entering the roll and pitch values ​​into the Mag_x and Max_y values using below code.

BOOL Fill_z1PacketPayload(uint8_t *payload, uint8_t *payloadLen)
{
uint64_t tstamp;
double accels[NUM_AXIS];
double mags[NUM_AXIS];
double rates[NUM_AXIS];
real EulerAngles[NUM_AXIS];

// tstamp = platformGetDacqTimeStamp(); // time stamp of last sensor sample in microseconds from system start
tstamp = platformGetCurrTimeStamp(); // current time stamp in microseconds from system start
// tstamp /= 1000; // convert to miliseconds
// timer = getSystemTime(); // OS timer value (tick defined in FreeRTOSConfig.h)
pld->timer = tstamp;

However, when we get the EulerAngles[ROLL] and EulerAngles[PITCH], those values were zero....................................................
How to get the slope data from the 330BI?????

I was uploading new firmware through the Navigation Studio before it froze and stopped responding. When I closed the program and attempted to reopen the Navigation Studio, the device no longer connects via the Webserver_Win32_2.7.0.exe file.

I am worried that the firmware upload corrupted the bootloader, preventing further development. I have read that the bootloader can be refreshed via the evaluation kit, however I did not purchase it and hence cannot use one.

Is there an alternate way to load and refresh the bootloader data? My current setup allows for RS232 communication between my computer and the OpenIMU300RI device.

Sincerely,
Yun Zhe

I'm trying to read the PGN 0xF029 referenced in the manual as "Slope Sensor Information - Type 2 (SSI2) Data Packet", without success. Then I sent the message "Set Data Packet Type(s)" accordingly to the manual, finishing with the message to save the parameters. But the package SSI2 still not being broadcasting.

What am I doing wrong?