Hi,

I need to increase the accuracy of HEADING on my system, I am using openIMU300ZI, may I use an external magnetometer sensor such as RM3100 or HMC2003??? openIMU's output is attitude, I want to use an external magnetometer sensor separately with openIMU on my system to combine calibrated magnetometer's data with openIMU's quaternion (VG mode). could you please advise an algorithm to combine these data together, or at least an article.

Best regards,
Amin.

Hi,

Thanks for the reply, I am trying to learn extended kalman filter using your library, currently I am using your ahrs app on my openimu module.

Regards,
Amin.

Dear support team,

Can you please let me know what is the external crystal connected to stm32f405? The frequency please?

Best regards,
Amin.

@Dong-xiaoguang said in AHRS Algorithm:

Kalman gain should be calculated separately for position, velocity and attitude.

Dear Dong,
the method you mention is for INS , what about for AHRS?
are position and velocity required for AHRS too or are those for INS specifically?

Best Regards
Amin

Hello, does AHRS/VG dynamic attitude app also using 16 state EKF ? or need to less state ?

Best Regards
Amin

Hi,

I need source code of libSensors.a file ( path : .pio\libdeps\OpenIMU300ZI\OpenIMU300-base-library\Sensors ), it seems all sensors reading functions are included in this file, but its a library file and source code is not available, can you please provide source code?

Best regards,
Amin.

Dear Li,

I have two questions about magnetometer calibration on openIMU300ZA, when I send 55 55 6D 61 01 02 D1 6C to start mag-align, may I need to read any response on user usart port? ( user usart port pins are 3,4 ) it will be any response on the user usart port? or all responses will be on debug port? I am using AHRS program, which pins are related to debug port? (TX and RX pins)

Best regards,
Amin.

Hi,

please check your GPS baud rate, in source code and in u-center.

Dear Dong,

may I control GPS data input to your INS algorithm by changing gAlgorithm.Behavior.bit.useGPS in source code? I need to toggle between using GPS data input to the INS algorithm and not using GPS data input, when GPS data input in not using by INS algorithm must estimate position without any input data from GPS.

is it possible to control GPS input by changing gAlgorithm.Behavior.bit.useGPS?

Dear Cek,

could you please send me the factory calibration bin file for openIMU300ZA with 1908400114 serial number?

Best regards,
Amin.