Merge pull request #4 from VIP-LES/develop

Added calibration

README.md

@@ -27,8 +27,7 @@ To run the project, a container must be created with this image and the correct
 docker create \
     --name=verne
     -v /dev/ttyAMA0:/dev/uart \
-    -v /dev/i2c-0:/dev/i2c-0 \
-    -v /dev/i2c-0:/dev/i2c-1 \
+    -v /dev/i2c-1:/dev/i2c-1 \
     -v /home/pi/vernedata:/data \
     --restart=unless-stopped \
     gtviples/verne

RTIMULib.ini

@@ -17,7 +17,7 @@
 #   8 = STM L3GD20H + LSM303DLHC
 #   9 = Bosch BMX055
 #   10 = Bosch BNX055
-IMUType=0
+IMUType=6
 
 # 
 # Fusion type type - 
@@ -48,7 +48,7 @@ SPISpeed=500000
 
 # 
 # I2C slave address (filled in automatically by auto discover) 
-I2CSlaveAddress=0
+I2CSlaveAddress=107
 
 # 
 # IMU axis rotation - see RTIMU.h for details
@@ -82,13 +82,13 @@ I2CHumidityAddress=0
 # 
 
 # Compass calibration settings
-CompassCalValid=false
-CompassCalMinX=0.000000
-CompassCalMinY=0.000000
-CompassCalMinZ=0.000000
-CompassCalMaxX=0.000000
-CompassCalMaxY=0.000000
-CompassCalMaxZ=0.000000
+CompassCalValid=true
+CompassCalMinX=-59.988636
+CompassCalMinY=-23.912876
+CompassCalMinZ=-61.714367
+CompassCalMaxX=47.611153
+CompassCalMaxY=86.796547
+CompassCalMaxZ=42.061466
 
 # #####################################################################
 # 
@@ -101,40 +101,40 @@ compassAdjDeclination=0.000000
 # 
 
 # Compass ellipsoid calibration
-compassCalEllipsoidValid=false
-compassCalOffsetX=0.000000
-compassCalOffsetY=0.000000
-compassCalOffsetZ=0.000000
-compassCalCorr11=1.000000
-compassCalCorr12=0.000000
-compassCalCorr13=0.000000
-compassCalCorr21=0.000000
-compassCalCorr22=1.000000
-compassCalCorr23=0.000000
-compassCalCorr31=0.000000
-compassCalCorr32=0.000000
-compassCalCorr33=1.000000
+compassCalEllipsoidValid=true
+compassCalOffsetX=-0.523097
+compassCalOffsetY=2.773693
+compassCalOffsetZ=-1.804364
+compassCalCorr11=0.980180
+compassCalCorr12=0.010728
+compassCalCorr13=0.001986
+compassCalCorr21=0.010728
+compassCalCorr22=0.992445
+compassCalCorr23=-0.007001
+compassCalCorr31=0.001986
+compassCalCorr32=-0.007001
+compassCalCorr33=0.979710
 
 # #####################################################################
 # 
 
 # Accel calibration
-AccelCalValid=false
-AccelCalMinX=0.000000
-AccelCalMinY=0.000000
-AccelCalMinZ=0.000000
-AccelCalMaxX=0.000000
-AccelCalMaxY=0.000000
-AccelCalMaxZ=0.000000
+AccelCalValid=true
+AccelCalMinX=-0.992136
+AccelCalMinY=-1.006543
+AccelCalMinZ=-1.011658
+AccelCalMaxX=1.011742
+AccelCalMaxY=0.999970
+AccelCalMaxZ=0.990727
 
 # #####################################################################
 # 
 
 # Saved gyro bias data
-GyroBiasValid=false
-GyroBiasX=0.000000
-GyroBiasY=0.000000
-GyroBiasZ=0.000000
+GyroBiasValid=true
+GyroBiasX=0.006298
+GyroBiasY=0.044090
+GyroBiasZ=-0.000801
 
 # #####################################################################
 #