INS13 causes horizon to flip; AuxMag works beautifully
« on: January 18, 2017, 06:38:38 am »
I'm running 16.09 with an external mag on a mast. No interference afaict, works flawlessly under load (green/0-3% under full throttle).

If I have the Revo set for Complementary everything works fine. As soon as I switch to INS13 or INS13Indoors the horizon starts flipping. Restore complimentary, things go back to normal.

I've recalibrated everything numerous times.

(On a tablet, I'll post the config once I get on a real computer)

Jhinta

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Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #1 on: January 18, 2017, 07:53:39 am »
Make foto of inside(mag placed wrong ?), Also test mag with a other magnet see if it's reacts like crazy ( I had one that work like it was on but with no effect -/+ 1 or 3 change)

Verstuurd vanaf mijn LG-D855 met Tapatalk


Jhinta

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Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #2 on: January 18, 2017, 08:21:07 am »
Also on your photo I believe to see a av TX with no antenna and your battery connected ( DONT !!!!)

Verstuurd vanaf mijn LG-D855 met Tapatalk


Mateusz

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Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #3 on: January 18, 2017, 09:21:31 am »
Flipping horizon is usually bad orientation of external magnetometer (AuxMag) in your screenshot you have Aux Mag Orientation (Pitch = 0, Roll =0, Yaw = 0), this is only true for OP GPSv9.
Other GPS may have different orientation and you need to adjust these values by +-45,90,180 degrees, depending on your GPS. Values in the bars should be very close to zero. You should see on scope that both AuxMag and Internal Mag respond the same when copter is rotated and values for orientations set correctly.

If your Mag orientation does not match what accelerometers measures, EKF will go crazy and you will see horizon going crazy or even flipping up-side-down.

Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #4 on: January 18, 2017, 03:50:20 pm »
Also on your photo I believe to see a av TX with no antenna and your battery connected ( DONT !!!!)

Verstuurd vanaf mijn LG-D855 met Tapatalk

All good, I had the TX unplugged from the battery (as well as the gimbal) so things wouldn't waste power / over heat. It's partly why there's a mess of wires hehe.

Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #5 on: January 18, 2017, 03:51:52 pm »
Flipping horizon is usually bad orientation of external magnetometer (AuxMag) in your screenshot you have Aux Mag Orientation (Pitch = 0, Roll =0, Yaw = 0), this is only true for OP GPSv9.
Other GPS may have different orientation and you need to adjust these values by +-45,90,180 degrees, depending on your GPS. Values in the bars should be very close to zero. You should see on scope that both AuxMag and Internal Mag respond the same when copter is rotated and values for orientations set correctly.

If your Mag orientation does not match what accelerometers measures, EKF will go crazy and you will see horizon going crazy or even flipping up-side-down.


Hrm, let me look into this. I just saw a LP tutorial video on this as well.

Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #6 on: January 18, 2017, 04:24:34 pm »
I think I got it working (or close enough). Roll 180, Pitch 0, Yaw 180


Mateusz

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Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #7 on: January 18, 2017, 04:58:28 pm »
Looks good;)

Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #8 on: January 18, 2017, 05:57:33 pm »
Hrm, needs some more work. Immediately crashed. TY for the help tho!

Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #9 on: January 18, 2017, 07:47:11 pm »
Always get it flying well without GPS, using Attitude mode and Basic AttitudeEstimationAlgorithm before advancing to using GPS.

The GPS needs this stuff to work right, and if you have a problem, you won't know whether to blame GPS/mag or other stuff.

zukenj

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Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #10 on: January 18, 2017, 10:02:42 pm »
I think I got it working (or close enough). Roll 180, Pitch 0, Yaw 180

Please correct me if I am wrong. but isn't Roll 180, Pitch 0, Yaw 180 = Roll 0, Pitch 180, Yaw 0?

Thanks
FS-TH9X RC
F450 Clone
Revolution FC
EMAX 2213 935 KV
HK 30A ESC UBEC running BLHeli 14.4
10x4.5 Propellers
DJI Naza clone Ublox M8N GPS

Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #11 on: January 18, 2017, 10:10:14 pm »
Yes thats correct :-)
Hardware: F450 Frame--Revolution Board--EMax 2213-935kv--BullTec 30A Opto--5000mAh 3S 30C LiPo--NEO M8N GPS+MAG--Fr Sky Taranis Plus + OPLink Mini
Addon: sj5000x + two axis gimbal + minimosd + eachine VT + easycap
Software: Black Rhino, LP2GO

Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #12 on: January 19, 2017, 07:02:30 pm »
Thanks everyone for the help, got it going [mostly] pretty well!

When I switch to a GPS Assisted mode, the hex seems to hop a lot, about once every second. I'll see if I can take a better video (this time of the drone itself rather than from the drone camera), but basically side to side position hold is fine, up and down isn't. Is this a 'put foam on the barometer' thing?


https://www.facebook.com/plj1225/videos/10155027913144456/?l=6516908638670423611

Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #13 on: January 19, 2017, 07:27:14 pm »
SS of barometer scope. Sitting perfectly still on a table top and it's been on for about 10min.

f5soh

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Re: INS13 causes horizon to flip; AuxMag works beautifully
« Reply #14 on: January 19, 2017, 07:47:23 pm »
Better select the altitude (m) in scope instead of pressure.

The altitude should still within 1m at least, this is a unfiltered value.
Be sure the pressure sensor is protected from light. (box, opaque cover)