Adafruit bno055 update + added position configs #124

ronzeiller · 2018-01-11T23:16:49Z

Update KBox-BNO055 library to Adafruit BNO055 Version 1.1.6
https://github.com/adafruit/Adafruit_BNO055

Corrected a bug in cal-offsets.
Hopefully heading will be better now with true calibration offset values.....

sarfata · 2018-01-12T02:11:27Z

src/host/util/PersistentStorage.h

@@ -67,7 +67,7 @@ class PersistentStorage {

    struct IMUCalibration {
      uint8_t mountingPosition;
-      uint8_t calibrationData[22]; // NUM_BNO055_OFFSET_REGISTERS
+      int calibrationData[22]; // NUM_BNO055_OFFSET_REGISTERS


why int? it's an int16_t, no?

That is a huge bug - and it was all me! Definitely explains some of the weird results we were seeing. Thanks a lot for finding that - and sorry for screwing up your code ;)

Actually, there is no bug.

We are using the function getSensorOffsets(uint8_t* calibData) which reads the register as an array and writes them back as an array so the changes Adafruit did will not impact us. And we are reading the correct size: 22 registers of 8bits each.

So I do not think this PR will improve anything unfortunately.

We can merge the Adafruit update to stay current but that will not change anything for us.

sarfata · 2018-01-12T02:13:27Z

Did you try this? It does not compile? Looking now.

ronzeiller · 2018-01-12T09:22:34Z

Oh, so sorry!!!
It was a late night short thought to change calibrationData[22] too.
Now we are back at Adafruits update. (With our own extensions)

Of course you are right, that it doesn't make any improvement for us :-(

BTW, I discussed there the matter of using the sensor in vertical mode:
adafruit/Adafruit_BNO055#38 (comment)

......remember to apply offsets to your accelerometer accordingly (page 31) so that gravity is removed from Y instead of Z .....

May be this is interesting for vertical positioning?

coveralls · 2018-01-12T09:26:59Z

Coverage decreased (-0.2%) to 67.737% when pulling ccb22b8 on ronzeiller:adafruit_bno055_update into 37ee8b3 on sarfata:master.

coveralls · 2018-01-15T21:43:54Z

Coverage decreased (-0.4%) to 67.515% when pulling e0a5e21 on ronzeiller:adafruit_bno055_update into 37ee8b3 on sarfata:master.

ronzeiller · 2018-01-15T21:48:17Z

@sarfata
Now the PR consists of:

some (not needed) parts of Adafruit BNO055 library updated to 1.1.6
config + IMUService now for all horizontal mounting positions
Bosch placement comments for positions added
enum names changed to be equal with config names

coveralls · 2018-01-16T15:56:55Z

Coverage increased (+3.5%) to 76.541% when pulling 5bf933f on ronzeiller:adafruit_bno055_update into 18734d6 on sarfata:master.

ronzeiller · 2018-01-17T10:17:42Z

@sarfata
Some more improvements and add ons:
PR actually consists of:

some (not needed) parts of Adafruit BNO055 library updated to 1.1.6
added and renamed mounting positions. Now they are (hopefully) easy to understand and equal for KBox and a free floating BNO055 sensor connected to KBox.
enum names equal with config names to make config easier for a user
checked all mounting positions for correct output
added kbox-config.json to .gitignore, so personal config might stay in extras/config and can easily be changed/uploaded by command:
tools/kbox.py --port /dev/nameOfUSB fwrite extras/config/kbox-config.json kbox-config.json

(Bosch placement comments for positions deleted, as they are not helpful)

…pdate

ronzeiller · 2018-03-05T07:19:28Z

Updated PR to latest commits in master
Update: now the color of the displayed values correspond to if they are sent as SKUpdate to SKHub.
(e.g. if hdg shows in red it shows that there are not sent any NMEA0183 values to serial output)

platformio.ini

sarfata · 2018-04-23T23:56:45Z

src/host/config/IMUConfig.h

-  //HorizontalRightSideToBow
+  verticalPortHull,           // KBox mounted on port hull
+  verticalStbHull,            // KBox mounted on stb. hull
+  verticalRightSideToBow,     // KBox mounted on port hull


Why have two options that are the same thing? It looks like verticalPortHull == verticalRightSideToBow? Or maybe I am missing something?

Yes if I remember right, it is the same. verticalPortHull is the "deprecated" naming convention which I believe you have in your config. If you switch to the "more detailed naming convention" then we do not need it anymore.

If you like it in principle and if it is easy for you to change, please do so.
Otherwise I think the right way is to merge your new commits, add the [env:host36] and delete the verticalPortHull, verticalStbHull settings in this PR, right?

I like the new naming and I think it's good to remove the old one to keep the more explicit one. 👍

…pdate

ronzeiller · 2018-12-09T15:27:48Z

Hi sarfata - back to work :-)

After some month of too many other things to do, I try to get in it again.
Found my old PR wondering if it is still working and I am glad to see "All checks have passed"

The PR is not a big thing, just
a. new naming convention for all kinds of mounting possibilities
b. some other things found the way into master already

sarfata · 2018-12-09T20:32:00Z

Welcome back ;) Let me take a look tomorrow and get back to you! Glad to hear from you!!

sarfata

Looks good. I agree we can merge this quickly. I would just like to clarify which configurations have been tested so we know and we can document what works and what does not (yet).

sarfata · 2018-12-10T18:09:53Z

platformio.ini

+lib_deps =
+  ${common.lib_deps_common}
+  ${common.lib_deps_teensy}
+extra_scripts = tools/platformio_cfg_gitversion.py


I think you may need to add lib_ignore = ${common.incompatible_libs_teensy} when you merge. Not sure ... Please give it a try. I have added it for env:host.

I am afraid I did some mistake on the last merge of your updates, because
[env:host-teensy36] [env:program-esp] [env:program-esp-teensy36]
are already updated in your uptodate master branch.
It was doubled in the PR by mistake.

did a
git checkout upstream/master platformio.ini
now

sarfata · 2018-12-10T18:11:20Z

src/host/config/IMUConfig.h

-  //HorizontalRightSideToBow
+  verticalPortHull,           // KBox mounted on port hull
+  verticalStbHull,            // KBox mounted on stb. hull
+  verticalRightSideToBow,     // KBox mounted on port hull


I like the new naming and I think it's good to remove the old one to keep the more explicit one. 👍

sarfata · 2018-12-10T18:13:18Z

src/host/services/IMUService.cpp

@@ -42,15 +57,26 @@ void IMUService::setup() {
  // Where each can be 00:X, 01: Y, 10:Z
  // Sign is the 3 lsb: 00000xyz
  switch (_config.mounting) {
-    case HorizontalLeftSideToBow:
+    case horizontalTopToBow:


Do you have time to test and make sure it works well?

If not, can you move all the ones that are untested at the bottom and add a comment to say that they have not been tested yet?

sarfata · 2018-12-10T18:13:49Z

src/host/services/IMUService.cpp

-    case HorizontalLeftSideToBow:
-      _roll = SKDegToRad(eulerAngles.y());
-      _pitch = SKDegToRad(eulerAngles.z()) * (-1);
+    case verticalTopToBow:


Same here. Can you let me know which one you have tested and which ones are untested?

@sarfata good that you asked for more tests ;-)
Found and corrected a bug in inverting angles

Tested all 8 position variants successfully now

(You could do a final test with one of the positions with KBox, just to be sure I got it right.
Not 100% sure with the BNO chip positioning in KBox)

Just wondering why it doesn´t do any new checks....

ronzeiller added 4 commits January 11, 2018 23:44

changed cal offsets to signed ints

c1c0723

Minor cal cleanup (better comments, etc.) Update to V1.1.6

735c0b3

Update to 1.1.6

7b522a1

changed calibrationdata from uint_8 to int

e01a593

sarfata reviewed Jan 12, 2018

View reviewed changes

back to uint16_t for calibrationData[22]

ccb22b8

ronzeiller added 2 commits January 14, 2018 17:21

corrected comment

c9febf0

config: now all horizontal positions, vars changed to lower case letters

e0a5e21

ronzeiller changed the title ~~Adafruit bno055 update~~ Adafruit bno055 update + added position configs Jan 15, 2018

added kbox-config.json as individual user's config file

69b2545

ronzeiller added 3 commits January 17, 2018 09:48

change to more generic wording of mounting positions (KBox+free Sensor)

53b8147

verticalPortHull, verticalStbHull added, heel +/-ve corrected

89bdb3e

updated comments for IMU-sensor/KBox positioning

9c57dc2

ronzeiller added 2 commits March 5, 2018 08:06

Merge remote-tracking branch 'upstream/master' into adafruit_bno055_u…

6d2e3e1

…pdate

Color of displayed values now correspond to if values are sent

2ce4d1d

ronzeiller mentioned this pull request Mar 5, 2018

Make KBox repeat all NMEA/NMEA2000 messages to USB port #128

Merged

ronzeiller mentioned this pull request Mar 31, 2018

Where are you with Kbox as a performance monitor? ronzeiller/kbox-firmware#7

Open

sarfata requested changes Apr 24, 2018

View reviewed changes

ronzeiller added 4 commits April 28, 2018 23:50

deleted deprecated mounting positions

a96150d

added individual user's config file

702b57d

added [env:teensy3.6]

63b8c44

added BOARD_ronzei (Teensy 3.6 based KBox development prototype)

4e0d1bf

ronzeiller added 2 commits May 19, 2018 10:08

Merge remote-tracking branch 'upstream/master' into adafruit_bno055_u…

4cc5d12

…pdate

Merge remote-tracking branch 'upstream/master' into adafruit_bno055_u…

420e11a

…pdate

sarfata reviewed Dec 10, 2018

View reviewed changes

ronzeiller added 3 commits December 11, 2018 00:00

corrected bug in inverting angles

1f9dde7

back to uptodate master branch

89028f8

doc: changelog for v1.3.7

5bf933f

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Adafruit bno055 update + added position configs #124

Adafruit bno055 update + added position configs #124

ronzeiller commented Jan 11, 2018

sarfata Jan 12, 2018

sarfata Jan 12, 2018

sarfata commented Jan 12, 2018

ronzeiller commented Jan 12, 2018

coveralls commented Jan 12, 2018

coveralls commented Jan 15, 2018

ronzeiller commented Jan 15, 2018

coveralls commented Jan 16, 2018 •

edited

Loading

ronzeiller commented Jan 17, 2018

ronzeiller commented Mar 5, 2018

sarfata Apr 23, 2018

ronzeiller Apr 24, 2018 •

edited

Loading

sarfata Dec 10, 2018

ronzeiller commented Dec 9, 2018 •

edited

Loading

sarfata commented Dec 9, 2018

sarfata left a comment

sarfata Dec 10, 2018

ronzeiller Dec 10, 2018

sarfata Dec 10, 2018

sarfata Dec 10, 2018

sarfata Dec 10, 2018

ronzeiller Dec 10, 2018

Adafruit bno055 update + added position configs #124

Are you sure you want to change the base?

Adafruit bno055 update + added position configs #124

Conversation

ronzeiller commented Jan 11, 2018

Choose a reason for hiding this comment

Choose a reason for hiding this comment

sarfata commented Jan 12, 2018

ronzeiller commented Jan 12, 2018

coveralls commented Jan 12, 2018

coveralls commented Jan 15, 2018

ronzeiller commented Jan 15, 2018

coveralls commented Jan 16, 2018 • edited Loading

ronzeiller commented Jan 17, 2018

ronzeiller commented Mar 5, 2018

Choose a reason for hiding this comment

ronzeiller Apr 24, 2018 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

ronzeiller commented Dec 9, 2018 • edited Loading

sarfata commented Dec 9, 2018

sarfata left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

coveralls commented Jan 16, 2018 •

edited

Loading

ronzeiller Apr 24, 2018 •

edited

Loading

ronzeiller commented Dec 9, 2018 •

edited

Loading