Hi,
I have the Eval-board for the IMU3000 and the UC3-A3 Board.
When I load the "Embedded MotionApps™ 2.0 UC3 Project" on the UC3 and start the Python Debug console I have the following behaviour:
9 out of 10 times there is a continous Drift. It seems, that some how the calibration of drift compensation are not working correctly.
Below is part of the console output:
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/uMPL-main:Q: +0.0239 +0.0639 +0.0578 +0.9960 (+1.0000)
I/uMPL-main:GC: +3.91 -5.74 +0.98
I/uMPL-main:AC: -0.01 +0.03 +0.98
I/uMPL-main:T: +29.99
I/uMPL-main:gb: +0.00 +0.00 +0.00
I/uMPL-main:gts: +0.00 +0.00 +0.00
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(ffffff80, 00bc, ffffffe3); from 0000, 0000 0000
I/umpl-setup:umplMotionCallback: INV_NO_MOTION
I/uMPL-main:Q: +0.0222 +0.0303 +0.0370 +0.9986 (+1.0000)
I/uMPL-main:GC: +0.12 -0.06 +0.06
I/uMPL-main:AC: -0.01 +0.03 +0.98
I/uMPL-main:T: +29.96
I/uMPL-main:gb: +3.91 -5.74 +0.89
I/uMPL-main:gts: +0.00 +0.00 +0.00
I/umpl-setup:umplMotionCallback: INV_MOTION
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from ff80, 00bc ffe3
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
I/MPL-mldl:inv_set_offset(0000, 0000, 0000); from 0000, 0000 0000
Then sometimes (about 1 out of 10 times) everything seems to work fine and there is now drift at all. Neither in the Teapot-app or the Debug console.
What could be causing this behaviour? How could I correct it?
Thanks in advance Mike