PeterBa

Member Since: November 23, 2011

Country: United States

  • Product SEN-10724 | about 2 years ago

    Ahh, saw your post to late AGAIN :)

    I did an update, Razor AHRS v1.4.0 now has support for this board built in.

  • Product SEN-10724 | about 2 years ago

    Hey guys and girls, I just updated the firmware at http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs to be compatible with this board…

    I thought this could be useful to some of you!

    Cheers!

  • Product SEN-10183 | about 2 years ago

    Hey guys and girls, I just updated the firmware at http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs to be compatible with this board…

    I thought this could be useful to some of you!

    Cheers!

  • Product SEN-10736 | about 2 years ago

    Ah ok, didn’t see it.

    For everyone else: I updated the Razor AHRS Firmware, so it now also supports the current 9DOF Sensor Stick as well as the previous version!

  • Product SEN-10736 | about 2 years ago

    Seems my previous post was too long and got truncated…

    Just wanted to hint, that you have to set HW__RAZOR_VERSION in Razor_AHRS.pde according to which magnetometer is on your 9DOF Stick. The newer Stick version 10724 matches Razor version 10736, the older Stick matches Razor version 10125.

  • Product SEN-10736 | about 2 years ago

    Ah, so you’re using the (older) SF9DOF_AHRS code and not the Razor AHRS Firmware. I can only speak for the latter one… Could someone try this? In Sensors.pde change the block in Read_Magn() to this:

    #if HW__RAZOR_VERSION == 10125  // SEN-10125 uses HMC5843 magnetometer
        // MSB byte first, then LSB; X, Y, Z
        magnetom[0] = -1 * sensor_sign[6] * ((((int) buff[0]) << 8) | buff[1]);    // X axis (internal sensor y axis ( = -x axis on 9DOF Stick))
        magnetom[1] = sensor_sign[7] * ((((int) buff[2]) << 8) | buff[3]);    // Y axis (internal sensor x axis ( = y axis on 9DOF Stick))
        magnetom[2] = sensor_sign[8] * ((((int) buff[4]) << 8) | buff[5]);    // Z axis
    #elif HW__RAZOR_VERSION == 10736  // SEN-10736 uses HMC5883L magnetometer
        // MSB byte first, then LSB; Y and Z reversed: X, Z, Y
        magnetom[0] = -1 * sensor_sign[6] * ((((int) buff[0]) << 8) | buff[1]);    // X axis (internal sensor y axis ( = -x axis on 9DOF Stick))
        magnetom[1] = sensor_sign[7] * ((((int) buff[4]) << 8) | buff[5]);    // Y axis (internal sensor x axis ( = y axis on 9DOF Stick))
        magnetom[2] = sensor_sign[8] * ((((int) buff[2]) << 8) | buff[3]);    // Z axis
    #endif
    

    And you have to set HW__RAZOR_VERSION in Razor_AHRS.pde according to which magnetometer is on your 9DOF Stick. The newer Stick version 10724 matches Razor version 10736, the older Stick matches Razor version 10125.

  • Product SEN-10736 | about 2 years ago

    Hmm, I had a look at the datasheets and it seems the y accelerometer axis is not labeled right on the board, it should point in the opposite direction…

    But other than that I see it like you said: magnetomter X is Y and Y is -X. You can send me your changed code via email and I have a look, if you want.

    The forward direction should be towards the connector, too…

  • Product SEN-10736 | about 2 years ago

    Hi, I don’t own the 9DOF stick, but like you said: It should work, but you’d have to reorder the sensor axes in this file: https://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs/repository/entry/trunk/Arduino/Razor_AHRS/Sensors.pde. If you want, let me know when you have it.. I can incorporate it into the Firmware. You can also drop me a mail.

  • Product SEN-10736 | about 2 years ago

    Thank you dds21! Good to hear you like it!

  • Product SEN-10736 | about 2 years ago

    Cool! Thanks a lot, mrgoblin!! So it’s release-ready :)

    I just uploaded the final firmware version on the files page.

    I also completed the Tutorial and added the section about sensor calibration.

    Hope this will be useful to some people. Happy tracking!

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