Hello!
I'm trying to port motion apps 5.1 to PIC18 plattform, and everything works fine, until I use
dmp_enable_feature(DMP_FEATURE_LP_QUAT); or
dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT);
The programming of the DMP and the FIFO interrupts are working without a problem, but only the DMP calculated output seems to be incorrect. I also tried a lot of different configurations (output rates etc.).
The output using dmp_enable_feature(DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL);
is valid.
These are the DMP generated quat. outputs at 200Hz in motionless state. Each line represents one FIFO-interrupt. A "." is printed when the FIFO_CORRUPTION_CHECK detects invalid data:
Setting up compass
Compass sens: 287 291 302
Loading firmware
Firmware loaded
3F FF FF FD FF FE FF 16 FF FF A6 A3 00 00 D4 3A
.
3F FF FF F2 FF FE 09 57 FF FF 42 1A 00 01 9D 48
.
3F FF FF E2 FF FD 1E C4 FF FE DD 92 00 02 66 56
.
3F FF FF CA FF FC 29 05 FF FE 79 09 00 03 2F 64
.
3F FF FF AC FF FB 33 45 FF FE 1F AB 00 03 F8 71
.
3F FF FF 88 FF FA 48 B1 FF FD C6 4E 00 04 C1 7E
.
3F FF FF 5D FF F9 5E 1E FF FD 61 C6 00 05 8A 8C
.
3F FF FF 2B FF F8 68 5F FF FC FD 3D 00 06 53 9A
.
3F FF FE F2 FF F7 72 9F FF FC A3 DF 00 07 1C A7
.
3F FF FE B5 FF F6 7C DF FF FC 4A 80 00 07 DA 89
.
3F FF FE 6E FF F5 87 20 FF FB E5 F7 00 08 A3 97
.
3F FF FE 21 FF F4 91 61 FF FB 81 6E 00 09 6C A5
.
3F FF FD CD FF F3 9B A2 FF FB 1C E5 00 0A 35 B3
.
3F FF FD 72 FF F2 A5 E3 FF FA B8 5C 00 0A FE C1
.
3F FF FD 11 FF F1 B0 24 FF FA 53 D3 00 0B C7 CF
.
3F FF FC A5 FF F0 BA 66 FF F9 E4 21 00 0C 9C 0C
.
3F FF FC 32 FF EF C4 AB FF F9 69 43 00 0D 70 4B
.
3F FF FB B6 FF EE CE F0 FF F8 EE 65 00 0E 44 8A
.
3F FF FB 37 FF ED E4 61 FF F8 73 89 00 0F 18 CB
.It looks like, that the 4 quat. are descending...
Thank you very much for your help!