IMU software Setup on 2.5/2.6 ROV


#1

Hello,

There might be a spot for this already but I wanted to write a quick note sharing my experience getting the IMU to work. When trying to get mine to work I didn't find a solution quickly so maybe this will help!

1) Put latest image on https://github.com/OpenROV/openrov-software/releases/tag/v2.5.0-Beta I believe...

2) ssh into device (rov/OpenROV)

3) change/opt/openrov/arduino/OpenROV/Adevice.h config

rov@OpenROV:/$ sudo vi /opt/openrov/arduino/OpenROV/AConfig.h

enter OpenROV password again

change the following ("i" for edit mode!)

#define HAS_POLOLU_MINIMUV (0)
#define HAS_MS5803_14BA (0)
#define MS5803_14BA_I2C_ADDRESS 0x76
#define HAS_MPU9150 (0)

to

#define HAS_POLOLU_MINIMUV (0)
#define HAS_MS5803_14BA (1)
#define MS5803_14BA_I2C_ADDRESS 0x76
#define HAS_MPU9150 (1)

save with ":wq"

Go back to the OpenROV cockpit and re-upload the arduino code from the beagle bone.

IMU should be good to go now!


#2

Hi Matthew,

i'll wire my IMU tonight i guess. See how it works. i'll definatly post my experience with it.

I started a forum post a few days ago.

http://openrov.com/forum/topics/position-imu-depth-sensor

I am still thinking of a good position for the sensor set. Where did you mount your IMU/Depth?

tobias


#3

Hey Tobias,

I've been mounting the IMU/Depth sensor up against the under-side of the Top Plate as far forward as I can get it. It would be easier to mount the sensor to the shell of the ROV, but then it would be more challenging to take the shell off. I use the double sided adhesive that came with the ESCs.


I just posted a short instruction set on how to build the IMU/Depth Sensor Module on Dozuki, but I still need to add instructions for how to wire and mount it to the ROV. Hopefully, though, this is enough information to help you move forward!

E


#4

After writing that last bit, I just saw the photos in your forum post- that's exactly what I've been doing!

I love seeing the photos of this stuff- keep us posted with how it goes!

Eric


#5

i was waiting for this kind of guide. Even though the connection of the sensor is nearly self-explaining it shows best practice. Thanks!

The guide seems to be some kine of hidden on http://openrov.dozuki.com/Guide.

I cant see any link to it. Might be difficult for others to find who do not stumble over this blog post

Tobias


#6

About ready to get back to the build - Season's Greetings everybody!

Just did a quick "curiosity test" re: IMU location relative to motors. I placed the longitudinal axis of a motor parallel to the needle of a magnetic compass that was stable and pointing north. Turning the motor shaft slowly by hand I was able to deflect the compass needle. The bad news is I was able to cause a noticeable deflection when the the two centres (compass & motor) were 5 inches apart. Any thoughts on just how far from the motor magnets the IMU should be would be greatly appreciated!