Fallback from DUAL to Singel+imu (and imu fusion)

Software
21

I did not have this issue with imu not connecting. Have you tried your setup with a panda firmware? Is the reverse detection activated?
I tried to implement an prevention to that um982 sometimes flip heading. Could be the problem if imu is not connecting.

22

i will check imu on serial than will post here again

23

I did some test while spraying. I think it steers better with more imu. I contacted Unicorcomm and got some alternative settings for um982 to improve DUAL.
I will test them when I get the time.

24

rotation issue resolved by changing the IMU clock speed from 400,000 to 100,000 in the firmware.
IMU is now detected properly and the continuous rotation has stopped. I tested this while parked, and will field-test it soon. I will update the thread here after field test

1 Like
25

tested firmware v0.3 on the field. The HEADING_ALPHA works perfectly—both 0.00 (pure HPR) and 1.00 (Single+IMU) are stable.
but problem with ROLL_ALPHA fusion. My setup requires the IMU roll to be inverted, but the DUAL roll works correctly without inversion. When I use the monitor to invert the IMU roll, it also inadvertently inverts the DUAL roll. Consequently, I can’t fuse them because they are always “fighting” each other (one shows positive roll , the other negative roll ).

26

At least some progress :slight_smile:
I also noticed that the sign convention is wrong. Inverted roll roll is needed when the axis is pointing forward. I will try to fix that.
I do not have your issue with IMU. (I use a BNO085). Googled and found that it could be a problem. It´s great you could get it going. Probably a good thing to add a comment in the firmware.

27

Here is an example where you do not need to invert roll to make it work. Beware that I have not had the time to test it myself. Made som other cosmetic changes to the monitor as well. Please let me know better or worse :slight_smile:
um982_monitor_V0.4.zip (8.3 KB)
000_UM982_Fallback_V.04.zip (55.7 KB)

28

Thanks for updated ver …i will test & will update here

29

i tested v04.. its work fine but can not mix roll as invert roll still having same issue … if invert roll from moniter its invert both roll dual and imu roll … without roll invert from moniter dual roll is okay left side up is + roll and imu roll is opposite left side up is - roll … if i invert roll from monitor its gets both inverted left side up dual roll is - and imu roll is + … invert roll from monitor needs to invert roll of only any one dual or imu not both

30

Thanks for testing, I just do not have the time to test it myself at the moment. Here is another untested version. I found some errors…I hope this will solve the problem.
um982_monitor_V0.5.zip (8.4 KB)
000_UM982_Fallback_V0.5.zip (55.7 KB)

31

thanks for update… i will test it soon

32

Thanks for the updated version 0.5. I tested it on my tractor today, and after inverting the roll from the monitor, both the IMU and DUAL roll matched perfectly and the system worked well. I plan to test it for longer durations in the field now, and I think it will work great. Thank you!

2 Likes
33

That’s good news. I think it will be possible to start optimization of the settings in the monitor.
Did you test the “add dual function” at U-turns?

34

i didnt test dual function at U-turns yet as it was just short run for testing imu and roll… will test it while full day run