Hi, dev
I use the firmware version V1.6.5,use make command make eagle_default upload,follow steps as URL:https://dev.px4.io/en/setup/building_px4.html on section Snapdragon .I connect to QgroundControl, and
have set the param SENS_BOARD_ROT No rotation.when i hold it up still, in the MAVLink Inspector,HIGHRES_IMU data are error as follow:
xacc -7.35521 float
yacc 1.35254 float
zacc -25.21152 float
xgyro -0.0715512 float
ygyro -0.5256533 float
zgyro 0.0787631 float
xmag -0.253265 float
ymag 0.223879 float
zmag 0.726581 float
pressure_alt 76.9214 float
temperature 50.34 float
As we know ,xacc should about equal to 0.01,yacc should about equal to 0.01,zacc should about equal to -9.8.These data are just after the SPI interface to read the data, without complicated processing.
When i start calibration sensors,i only can calibrate Gyroscope.If i start calibrate Accelerometer,QGC will not guide me into one of the six calibration interfaces. finally it note that i calibrate fail.
My DSP-core log as follow:
[08500/00] 14:20.455 HAP:63:adsp memory mapped 0155 shmem_qurt.c
[08500/00] 14:20.461 HAP:61:In dspal_entry 0220 main.cpp
[08500/00] 14:20.461 HAP:61:adsp memory mapped 0155 shmem_qurt.c
[08500/00] 14:20.498 HAP:61:attempting to open the ADSP command file: /dev/fs/px4.config 0184 main.cpp
[08500/00] 14:20.498 HAP:61:reading commands from /dev/fs/px4.config 0191 main.cpp
[08500/00] 14:21.500 configuring UART for 4-wire mode, DAL id: 0x2001001 0852 DalUart.c
[08500/00] 14:21.502 HAP:61:1040977 *MPU9250 sensor WHOAMI success 0x71 0289 MPU9250.cpp
[08500/00] 14:21.582 HAP:52:TEST px4muorb_topic_advertised of [telemetry_status] on remote side... 0167 px4muorb.cpp
[08500/00] 14:21.602 HAP:61:1141131 Reset MPU9250 0091 MPU9250.cpp
[08500/00] 14:21.618 HAP:61:1156790 * reading internal mag whoami reg: 0 0279 MPU9250_mag.cpp
[08500/00] 14:21.665 HAP:61:1203785 *DevObj::start ImuSensor 0153 DevObj.cpp
[08500/00] 14:21.665 HAP:61:1203837 *DevObj start success 0305 MPU9250.cpp
[08500/00] 14:21.665 HAP:61:*MPU9250 start success: 0 0308 df_mpu9250_wrapper.cpp
[08500/00] 14:21.665 HAP:61:mpu9250 start_with_mag 0898 df_mpu9250_wrapper.cpp
[08500/00] 14:21.666 HAP:60:1205229 IMU temperature initialized to: 62.191135 0528 MPU9250.cpp
[08500/00] 14:21.667 HAP:61:1205687 *I2CDevObj::init success on ::open() /dev/iic-3 0061 I2CDevObj.cpp
[08500/00] 14:21.668 HAP:61:1206941 additional sensor configuration succeeded 0187 BMP280.cpp
[08500/00] 14:21.670 HAP:61:1207995 *DevObj::start BaroSensor 0153 DevObj.cpp
[08500/03] 14:21.670 HAP:61:start 0204 df_trone_wrapper.cpp
[08500/00] 14:21.671 HAP:61:1209620 *I2CDevObj::init success on ::open() /dev/iic-9 0061 I2CDevObj.cpp
[08500/02] 14:21.671 HAP:61:I2C_Write failed: 285212872 num_bytes_written 0 0414 i2c.c
[08500/00] 14:21.671 HAP:61:1209910 Error: i2c write failed. Reported -1 bytes written 0241 I2CDevObj.cpp
[08500/00] 14:21.671 HAP:61:1209945 Nonzero result when writing to TRONE_WHO_AM_I_REG 0x1 0110 TROne.cpp
[08500/00] 14:21.671 HAP:61:1209979 probing not successful 0071 TROne.cpp
[08500/03] 14:21.671 HAP:61:TROne start fail: -1 0134 df_trone_wrapper.cpp
[08500/03] 14:21.671 HAP:61:DfTROneWrapper start failed 0215 df_trone_wrapper.cpp
[08500/02] 14:21.693 HAP:49192:LED: getHandle fail 0279 commander_helper.cpp
[08500/02] 14:21.693 HAP:49192:LED init failed 1401 commander.cpp
[08500/02] 14:21.693 HAP:49192:Buzzer: px4_open fail 0132 commander_helper.cpp
[08500/02] 14:21.693 HAP:49192:Buzzer init failed 1405 commander.cpp
[08500/02] 14:21.762 HAP:35:AV Timer registration done for ATL 0341 pwm.c
[08500/00] 14:21.762 HAP:35:Trying to initialize mixer from config file /dev/fs/quad_x.main.mix 0166 snapdragon_pwm_out.cpp
[08500/00] 14:21.763 configuring UART for 4-wire mode, DAL id: 0x2001007 0852 DalUart.c
[08500/00] 14:21.763 HAP:35:Successfully initialized mixer from config file 0177 snapdragon_pwm_out.cpp
[08500/00] 14:22.170 HAP:60:1709186 read_len:22,size_of_fifo_packet:22 0591 MPU9250.cpp
[08500/00] 14:22.170 HAP:60:1709240 *IMU: accel: [-7.345411, 1.359907, -25.096022] 0595 MPU9250.cpp
[08500/00] 14:22.170 HAP:60:1709310 *gyro: [-0.078830, -0.534763, 0.075634] 0599 MPU9250.cpp
[08500/00] 14:22.170 HAP:60:1709368 *temp: 62.193905 C 0600 MPU9250.cpp
[08500/00] 14:22.653 HAP:60:2192228 read_len:22,size_of_fifo_packet:22 0591 MPU9250.cpp
[08500/00] 14:22.653 HAP:60:2192287 *IMU: accel: [-7.321469, 1.345541, -25.081657] 0595 MPU9250.cpp
[08500/00] 14:22.653 HAP:60:2192357 *gyro: [-0.076699, -0.534763, 0.075634] 0599 MPU9250.cpp
[08500/00] 14:22.653 HAP:60:2192414 *temp: 62.182823 C 0600 MPU9250.cpp
[08500/00] 14:23.650 HAP:60:3188202 read_len:22,size_of_fifo_packet:22 0591 MPU9250.cpp
[08500/00] 14:23.650 HAP:60:3188259 *IMU: accel: [-7.311892, 1.350330, -25.105598] 0595 MPU9250.cpp
[08500/00] 14:23.650 HAP:60:3188336 *gyro: [-0.078830, -0.536893, 0.075634] 0599 MPU9250.cpp
[08500/00] 14:23.650 HAP:60:3188396 *temp: 62.132965 C 0600 MPU9250.cpp
I dont know where the error happened.
Hope for your reply!Thank you!