ICM-20948 Breakout?

[yokotsuno]

The BLYST Nano is coming to CrowdSupply with a sensor board that has the ICM-20948 and other sensor on board with a Bluetooth5 LE support.
https://www.crowdsupply.com/i-syst/blyst-nano

Preliminary source code is here https://github.com/I-SYST/EHAL

[FXUDarkNova]

Hi DPEng,

Is there any chance you can upload the code to GitHub earlier I am currently looking at the ICM20948 and would love to use it with Arduino.

Thanks,
FXUDarkNova

[dpEng]

Hi DPEng,

Is there any chance you can upload the code to GitHub earlier I am currently looking at the ICM20948 and would love to use it with Arduino.

Thanks,
FXUDarkNova

Hi FXUDarkNova,

It's still a work in progress, currently it can read raw data from all sensors and it works with the magnetic calibration method, as shown below:

ICM20948 2nd Prototype.png (83.09 KiB) Viewed 8508 times

The next step is to get it working with sensor fusion for AHRS, which involves converting the raw data to real values so they can be plugged into the algorithms. Hopefully that won't take too long to figure out.

Cheers,
DPEng

[dtornqvist]

Hi,

I just finished soldering my ICM-20948 breakout board and made an Arduino library for getting data out of it. Please have a look:
Breakout board: https://github.com/dtornqvist/icm-20948-breakout
Arduino library: https://github.com/dtornqvist/icm-20948-arduino-library

The library is just getting the data out there, so I am very interested to have a look at your calibration methods DPEng.

David

[dpEng]

Hi David,

Congratulations on getting your breakout board working and obtaining some values from it!

Just to give everyone an update on my library progression: I have been able to get the both the Mahony and Madgwick AHRS algorithms to function successfully for the ICM-20948 with I2C now, in addition to magnetometer calibration as stated previously. I have just uploaded the initial commit to the following repository:
https://github.com/drcpattison/DPEng_ICM20948_AK09916

I hope it is of some use.

Enjoy,
DPEng

[kengster]

Wow guys, you are doing a great work, I will be testing all your commits. I would like to help but I do not have your knowledge,
A question for you guys, once you have all the raw data it is just to take the already existing code (algorithms...) and reuse it? Is that simple or it is more difficult than that?

I would like to use it for measuring accelerations and instant velocities of an object.

Cheers,

Iker.

[Jaybee654]

Hi DPEng,

Thanks for your effort writing the code for the ICM20948, it's been very handy.

I've been working on getting the ICM20948 running for quite a while now but am still having issues with it. I have my own code that i've been working on and whilst I can get pitch/roll working fine on their own, adding yaw creates issues. More specifically pitch/roll effects yaw when it shouldn't.

I tried both versions of your code (original and Kriswiner port) and still cannot seem to get it pitch/roll/yaw working properly. I haven't changed anything except the I2C/INT pins.

I've checked all of the incoming data from the accel, gyro and magnetometer and it seems okay. Although, the pitch,roll yaw values are almost completely random and seem to continually jump around with huge variations. i.e from 0 to 200 then back to -180 to 50. Seemingly random from what I can see.

Have you encountered anything like this?
Would you have any suggestions or ideas about what the problem could be?
I'm pretty stuck tbh.

Thanks,
Jesse

[dpEng]

Hi Jaybee654,

You're welcome.

This appears to be a problem I haven't encountered yet but I have some ideas on what it could be. Firstly, can I check you have calibrated the magnetometer using the process described here: https://learn.adafruit.com/nxp-precisio ... ration-usb

In order to assist and help check you are getting reasonable values, here is a data sample from the ahrs_calibration_usb sketch (for the benefit of other readers can be found here: https://github.com/drcpattison/DPEng_ICM20948_AK09916) from my DP Eng ICM-20948 breakout board while at rest:

Code: Select all

Raw:827,-682,8345,-27,80,37,136,-50,168
Raw:803,-670,8351,-46,42,4,128,-47,178
Raw:840,-652,8340,-19,45,51,134,-45,170
Raw:841,-656,8352,-58,31,39,135,-56,174
Raw:852,-671,8359,-30,45,45,141,-51,167
Raw:827,-669,8337,-63,41,51,131,-45,178
Raw:831,-681,8364,-40,45,49,134,-52,176
Raw:839,-679,8347,-32,26,39,132,-43,177
Raw:826,-698,8346,-32,26,44,129,-54,172
Raw:820,-669,8324,-10,24,33,132,-38,172
Raw:811,-661,8366,-19,30,73,134,-52,165
Raw:823,-676,8348,-60,27,27,143,-51,167
Raw:842,-659,8354,-19,64,28,134,-50,176
Raw:808,-651,8360,-11,44,38,135,-46,177
Raw:816,-658,8337,-32,14,51,146,-43,174
Raw:827,-663,8354,-24,56,30,132,-48,161

These comma separated values, especially the first 3 which relate to the accelerometer and the last 3 which relate to the magnetometer, could be very different to your sensor as they relate to the sensor's orientation as well as physical location on Earth with regards to the Earth's magnetic fields. However they provide an indication of the stability between samples you should expect while the sensor is at rest.

Here it is also at rest from the sensorapi sketch (essentially the same thing but converted to SI units):

Code: Select all

A X: 1.1384  Y: -1.5431  Z: 9.8868  m/s^2
G X: -0.2  Y: 0.6  Z: 0.2  g
M X: -2.4  Y: -42.9  Z: 26.1  uT

A X: 1.1277  Y: -1.5658  Z: 9.8773  m/s^2
G X: -0.2  Y: 0.3  Z: 0.5  g
M X: -0.9  Y: -43.8  Z: 26.4  uT

A X: 1.1217  Y: -1.5682  Z: 9.8868  m/s^2
G X: -0.4  Y: 0.3  Z: 0.2  g
M X: -2.0  Y: -44.4  Z: 26.6  uT

A X: 1.1241  Y: -1.5838  Z: 9.9084  m/s^2
G X: -0.1  Y: -0.3  Z: 0.2  g
M X: -2.9  Y: -44.9  Z: 24.6  uT

A X: 1.1325  Y: -1.5790  Z: 9.8844  m/s^2
G X: -0.2  Y: 0.6  Z: 0.5  g
M X: -2.2  Y: -45.0  Z: 26.0  uT

A X: 1.1468  Y: -1.5957  Z: 9.8892  m/s^2
G X: -0.1  Y: -0.0  Z: 0.3  g
M X: -1.7  Y: -44.0  Z: 25.4  uT

A X: 1.1396  Y: -1.5443  Z: 9.8749  m/s^2
G X: 0.1  Y: 0.2  Z: 0.3  g
M X: -2.9  Y: -44.4  Z: 24.2  uT

A X: 1.1516  Y: -1.5754  Z: 9.8916  m/s^2
G X: -0.2  Y: 0.0  Z: 0.5  g
M X: -2.6  Y: -44.6  Z: 25.5  uT

A X: 1.1265  Y: -1.5490  Z: 9.9084  m/s^2
G X: -0.1  Y: 0.6  Z: 0.3  g
M X: -2.6  Y: -46.2  Z: 27.2  uT

A X: 1.1229  Y: -1.5431  Z: 9.8832  m/s^2
G X: 0.0  Y: 0.2  Z: 0.4  g
M X: -2.9  Y: -44.9  Z: 26.1  uT

A X: 1.1456  Y: -1.5694  Z: 9.8916  m/s^2
G X: -0.1  Y: 0.6  Z: 0.4  g
M X: -2.6  Y: -44.2  Z: 26.0  uT

A X: 1.1396  Y: -1.5874  Z: 9.9048  m/s^2
G X: -0.0  Y: 0.4  Z: 0.6  g
M X: -3.6  Y: -44.4  Z: 25.8  uT

Finally, here it is at rest with the ahrs_fusion_usb sketch using the Mahony_DPEng filter (please note you will need to wait a few moments for the readings to stabilise after first turning it on as it tries to correct itself from its default orientation):

Code: Select all

30609 - Orientation: 273.14 -5.91 -9.41
30623 - Orientation: 273.14 -5.91 -9.41
30636 - Orientation: 273.15 -5.91 -9.41
30650 - Orientation: 273.15 -5.91 -9.41
30664 - Orientation: 273.15 -5.91 -9.41
30677 - Orientation: 273.16 -5.91 -9.41
30691 - Orientation: 273.15 -5.91 -9.41
30705 - Orientation: 273.15 -5.91 -9.41
30718 - Orientation: 273.16 -5.91 -9.41
30732 - Orientation: 273.15 -5.91 -9.41
30746 - Orientation: 273.15 -5.91 -9.41
30759 - Orientation: 273.15 -5.91 -9.41
30773 - Orientation: 273.15 -5.91 -9.41
30787 - Orientation: 273.14 -5.91 -9.41
30800 - Orientation: 273.14 -5.92 -9.41
30814 - Orientation: 273.14 -5.92 -9.42
30828 - Orientation: 273.14 -5.91 -9.42
30841 - Orientation: 273.15 -5.91 -9.42
30855 - Orientation: 273.14 -5.91 -9.42
30869 - Orientation: 273.15 -5.91 -9.42
30882 - Orientation: 273.15 -5.91 -9.42
30896 - Orientation: 273.15 -5.92 -9.42
30910 - Orientation: 273.14 -5.91 -9.42
30923 - Orientation: 273.14 -5.91 -9.43
30937 - Orientation: 273.14 -5.92 -9.43
30951 - Orientation: 273.15 -5.92 -9.43
30964 - Orientation: 273.15 -5.92 -9.42
30978 - Orientation: 273.15 -5.92 -9.42
30992 - Orientation: 273.15 -5.92 -9.42
31005 - Orientation: 273.15 -5.93 -9.42
31019 - Orientation: 273.14 -5.93 -9.42
31033 - Orientation: 273.14 -5.93 -9.42
31046 - Orientation: 273.14 -5.93 -9.42
31060 - Orientation: 273.13 -5.93 -9.41
31074 - Orientation: 273.13 -5.93 -9.41
31087 - Orientation: 273.13 -5.93 -9.41
31101 - Orientation: 273.12 -5.93 -9.42
31115 - Orientation: 273.13 -5.93 -9.42
31128 - Orientation: 273.13 -5.93 -9.42
31142 - Orientation: 273.13 -5.93 -9.42
31156 - Orientation: 273.14 -5.93 -9.42
31169 - Orientation: 273.14 -5.93 -9.42
31183 - Orientation: 273.14 -5.93 -9.42
31197 - Orientation: 273.14 -5.93 -9.42
31210 - Orientation: 273.14 -5.92 -9.42

Please note the remarkable stability of the orientation - albeit over a relatively short time period.

Please compare and contrast the results you get from these three sketches and let me know of any discrepancies. If the first two sketches check out ok and you have entered the magnetometer calibration values into the fusion sketch then the only other fundamental change between the sketches is inclusion of the time difference between samples which is used by the sensor fusion algorithms to update the orientation and it is essential this is as accurate as possible. I modified the Adafruit filters so the actual time difference between each sensor measurement was input into the fusion algorithms (rather than assume a constant time difference between samples) in order to improve orientation accuracy.

DPEng

[Jaybee654]

Hi DPeng,

Thank you kindly for your help, you have successfully aided me in solving a problem I have been working on for quite a while.

Turns our the issue (as far as I can tell) was caused by not calibrating the magnetometer properly. I had read that it was important but I didn't quite realize it made such a difference.
Everything looks great now, the pitch/roll/yaw looks really good.

Thanks again!
Jesse

[dpEng]

Hi Jesse,

You're welcome, thank you for your feedback and I'm glad to hear you got it working at last.

DPEng

[dpEng]

Wow guys, you are doing a great work, I will be testing all your commits. I would like to help but I do not have your knowledge,
A question for you guys, once you have all the raw data it is just to take the already existing code (algorithms...) and reuse it? Is that simple or it is more difficult than that?

I would like to use it for measuring accelerations and instant velocities of an object.

Cheers,

Iker.

Hi Iker,

I'm not sure what algorithms you have in mind but the ICM-20948 sketches can provide 3-axis accelerations, rotations and magnetic fields in raw or SI units formats. It is likely your algorithm may require the data in SI format (for example the AHRS fusion sketch provided in my Github ICM-20948 library does) in which case you should use the sensorapi example sketch to obtain the SI unit format as a starting point.

I'm not sure what specific end use you have in mind but for obtaining velocities this thread may be useful for providing some ideas: Estimating velocity with just a 3-axis accelerometer.

DPEng

[Jaybee654]

Hi DPEng,

Not sure if you're still active here anymore, but if so i'm wondering if you have experienced similar issues as described below - I've run out of ideas and am stuck.

Just to add a bit of background of where I am at: I have copied your code (NOT Kriswiner port) from Github, performed calibration using MagCal app and added offsets. No other changes have been made besides setting the correct I2C pins. Whilst (for the most part) the orientation output is fairly stable - as is the raw data - I am getting strange behavior on startup as well as when the sensor is moved about the z-axis (yaw):

On startup, the yaw angle takes some time to reach it's steady state value. Whilst it is be expected that the filter will take time to stabilize i'm not sure if this is normal as it takes approx 60 seconds to reach it's final yaw value - whatever that may be depending on it's direction during startup.

Below shows a snippet of the output on startup, the format of the output being yaw, pitch, roll:

Code: Select all

Orientation: 181.36 0.59 -1.92
Orientation: 181.42 0.70 -1.95
Orientation: 181.48 0.81 -1.90
Orientation: 181.50 0.69 -1.93
Orientation: 181.52 0.58 -1.98
Orientation: 181.53 0.71 -1.94
Orientation: 181.54 0.80 -2.03
Orientation: 181.55 0.70 -1.98
Orientation: 181.58 0.59 -2.03
Orientation: 181.59 0.54 -1.92
Orientation: 181.61 0.65 -1.99
Orientation: 181.63 0.72 -1.89
Orientation: 181.65 0.83 -1.95
Orientation: 181.67 0.72 -2.02
Orientation: 181.68 0.69 -1.91
Orientation: 181.70 0.58 -1.86
Orientation: 181.72 0.67 -1.95
Orientation: 181.73 0.60 -2.05
Orientation: 181.75 0.63 -1.93
Orientation: 181.76 0.74 -2.02
Orientation: 181.78 0.64 -2.09
Orientation: 181.80 0.76 -2.15
Orientation: 181.82 0.69 -2.06
Orientation: 181.84 0.61 -1.97
Orientation: 181.87 0.73 -2.01
Orientation: 181.91 0.70 -1.90
Orientation: 181.93 0.73 -2.03
Orientation: 181.94 0.67 -2.13
Orientation: 181.97 0.56 -2.10
Orientation: 182.07 0.60 -2.13
Orientation: 182.08 0.52 -2.03
Orientation: 182.11 0.47 -2.14
Orientation: 182.13 0.42 -2.03
Orientation: 182.14 0.53 -1.97
Orientation: 182.24 0.46 -1.98
Orientation: 182.26 0.58 -2.00
Orientation: 182.28 0.69 -1.93
Orientation: 182.29 0.58 -1.98
Orientation: 182.33 0.70 -2.00
Orientation: 182.35 0.59 -1.97
Orientation: 182.39 0.56 -2.08
Orientation: 182.42 0.63 -1.98
Orientation: 182.45 0.73 -1.90
Orientation: 182.53 0.78 -1.98
Orientation: 182.54 0.66 -1.98
Orientation: 182.58 0.62 -1.87
Orientation: 182.62 0.71 -1.79
Orientation: 182.63 0.71 -1.92
Orientation: 182.63 0.59 -1.91
Orientation: 182.66 0.70 -1.86
Orientation: 182.67 0.67 -1.98
Orientation: 182.70 0.74 -2.09
Orientation: 182.73 0.66 -2.00
Orientation: 182.74 0.57 -2.08
Orientation: 182.74 0.67 -2.16
Orientation: 182.82 0.66 -2.26
Orientation: 182.82 0.59 -2.16
Orientation: 182.83 0.66 -2.06
Orientation: 182.86 0.67 -1.94
Orientation: 182.86 0.55 -1.98
Orientation: 182.91 0.45 -2.00
Orientation: 182.92 0.56 -1.94
Orientation: 182.95 0.52 -1.83
Orientation: 182.96 0.64 -1.88
Orientation: 182.98 0.55 -1.80
Orientation: 183.00 0.57 -1.93
Orientation: 183.01 0.64 -2.04
Orientation: 183.03 0.72 -2.14
Orientation: 183.04 0.74 -2.02
Orientation: 183.06 0.63 -1.98
Orientation: 183.08 0.59 -1.86
Orientation: 183.10 0.65 -1.97
Orientation: 183.13 0.59 -2.08
Orientation: 183.14 0.48 -2.12
Orientation: 183.15 0.50 -2.00
Orientation: 183.16 0.59 -1.92
Orientation: 183.18 0.70 -1.98
Orientation: 183.20 0.81 -2.05
Orientation: 183.20 0.70 -2.00
Orientation: 183.21 0.59 -1.95
Orientation: 183.23 0.61 -2.07
Orientation: 183.25 0.62 -1.95
Orientation: 183.30 0.52 -1.92
Orientation: 183.31 0.62 -1.84
Orientation: 183.37 0.53 -1.87
Orientation: 183.41 0.61 -1.78
Orientation: 183.42 0.61 -1.91
Orientation: 183.45 0.57 -2.03
Orientation: 183.46 0.63 -1.92
Orientation: 183.49 0.74 -1.99
Orientation: 183.50 0.67 -1.88
Orientation: 183.53 0.59 -1.97
Orientation: 183.55 0.47 -1.98
Orientation: 183.57 0.41 -1.88
Orientation: 183.59 0.54 -1.88
Orientation: 183.62 0.44 -1.93
Orientation: 183.63 0.55 -2.01
Orientation: 183.64 0.64 -2.10
Orientation: 183.65 0.56 -2.01
Orientation: 183.67 0.68 -1.98
Orientation: 183.69 0.80 -2.03
Orientation: 183.70 0.69 -2.09
Orientation: 183.72 0.63 -1.99
Orientation: 183.73 0.76 -1.97
Orientation: 183.76 0.76 -1.85
Orientation: 183.77 0.84 -1.95
Orientation: 183.78 0.72 -1.98
Orientation: 183.85 0.80 -2.06
Orientation: 183.85 0.70 -1.99
Orientation: 183.86 0.63 -1.89
Orientation: 183.88 0.71 -2.00
Orientation: 183.90 0.60 -1.97
Orientation: 183.92 0.64 -2.09
Orientation: 183.92 0.63 -1.97
Orientation: 183.93 0.75 -1.91
Orientation: 183.96 0.71 -1.80
Orientation: 183.98 0.60 -1.86
Orientation: 184.01 0.53 -1.96
Orientation: 184.02 0.65 -2.01
Orientation: 184.04 0.60 -1.90
Orientation: 184.05 0.51 -1.99
Orientation: 184.07 0.63 -1.94
Orientation: 184.09 0.65 -2.06
Orientation: 184.12 0.63 -1.95
Orientation: 184.17 0.74 -1.90
Orientation: 184.19 0.63 -1.85
Orientation: 184.21 0.58 -1.96
Orientation: 184.24 0.59 -1.84
Orientation: 184.26 0.50 -1.93
Orientation: 184.28 0.60 -1.85
Orientation: 184.31 0.72 -1.86
Orientation: 184.32 0.60 -1.82
Orientation: 184.34 0.72 -1.88
Orientation: 184.35 0.79 -1.78
Orientation: 184.36 0.72 -1.88
Orientation: 184.40 0.85 -1.87
Orientation: 184.41 0.78 -1.97
Orientation: 184.42 0.67 -1.92
Orientation: 184.43 0.79 -1.98
Orientation: 184.45 0.67 -2.00
Orientation: 184.47 0.75 -1.91
Orientation: 184.49 0.64 -1.94
Orientation: 184.56 0.73 -1.98
Orientation: 184.58 0.62 -1.94
Orientation: 184.63 0.70 -1.85
Orientation: 184.72 0.63 -1.89
Orientation: 184.73 0.51 -1.94
Orientation: 184.75 0.64 -1.93
Orientation: 184.77 0.76 -1.99
Orientation: 184.79 0.64 -1.99
Orientation: 184.82 0.65 -2.11
Orientation: 184.84 0.72 -2.01
Orientation: 184.87 0.60 -2.01
Orientation: 184.89 0.59 -1.89
Orientation: 184.92 0.61 -1.77
Orientation: 184.93 0.63 -1.90
Orientation: 184.98 0.73 -1.97
Orientation: 184.99 0.62 -1.93
Orientation: 185.01 0.67 -1.83
Orientation: 185.10 0.61 -1.85
Orientation: 185.11 0.74 -1.85
Orientation: 185.12 0.67 -1.96
Orientation: 185.13 0.58 -2.05
Orientation: 185.15 0.46 -2.09
Orientation: 185.18 0.45 -1.96
Orientation: 185.19 0.58 -1.98
Orientation: 185.26 0.53 -2.06
Orientation: 185.28 0.56 -1.95
Orientation: 185.29 0.67 -1.88
Orientation: 185.32 0.76 -1.98
Orientation: 185.33 0.64 -2.00
Orientation: 185.37 0.53 -1.97
Orientation: 185.38 0.65 -2.01
Orientation: 185.41 0.66 -1.89
Orientation: 185.43 0.74 -1.80
Orientation: 185.44 0.71 -1.93
Orientation: 185.46 0.83 -1.87
Orientation: 185.46 0.72 -1.82
Orientation: 185.48 0.73 -1.96
Orientation: 185.54 0.83 -1.90
Orientation: 185.55 0.70 -1.91
Orientation: 185.57 0.58 -1.89
Orientation: 185.61 0.69 -1.95
Orientation: 185.63 0.80 -2.03
Orientation: 185.64 0.69 -1.97
Orientation: 185.67 0.78 -1.88
Orientation: 185.70 0.69 -1.81
Orientation: 185.72 0.59 -1.88
Orientation: 185.74 0.72 -1.86
Orientation: 185.75 0.71 -1.98
Orientation: 185.80 0.72 -1.87
Orientation: 185.82 0.69 -2.00
Orientation: 185.83 0.63 -1.89
Orientation: 185.87 0.63 -2.01
Orientation: 185.88 0.64 -1.89
Orientation: 185.91 0.76 -1.86
Orientation: 185.94 0.70 -1.76
Orientation: 185.95 0.63 -1.87
Orientation: 185.98 0.69 -1.77
Orientation: 185.99 0.72 -1.89
Orientation: 186.00 0.63 -1.98
Orientation: 186.02 0.76 -2.01
Orientation: 186.04 0.64 -1.98
Orientation: 186.05 0.76 -1.95
Orientation: 186.07 0.64 -1.95
Orientation: 186.08 0.60 -1.84
Orientation: 186.09 0.73 -1.86
Orientation: 186.11 0.64 -1.93
Orientation: 186.12 0.53 -1.98
Orientation: 186.14 0.66 -1.99
Orientation: 186.15 0.54 -1.95
Orientation: 186.18 0.48 -2.06
Orientation: 186.19 0.47 -1.93
Orientation: 186.20 0.56 -1.84
Orientation: 186.24 0.62 -1.95
Orientation: 186.25 0.58 -1.84
Orientation: 186.26 0.66 -1.93
Orientation: 186.28 0.69 -1.81
Orientation: 186.31 0.78 -1.90
Orientation: 186.32 0.66 -1.93
Orientation: 186.34 0.77 -1.87
Orientation: 186.36 0.71 -1.97
Orientation: 186.38 0.60 -1.92
Orientation: 186.40 0.50 -1.86
Orientation: 186.42 0.63 -1.85
Orientation: 186.43 0.76 -1.84
Orientation: 186.49 0.79 -1.94
Orientation: 186.50 0.67 -1.92
Orientation: 186.52 0.78 -2.00
Orientation: 186.52 0.67 -1.98
Orientation: 186.56 0.65 -1.87
Orientation: 186.59 0.73 -1.97
Orientation: 186.61 0.74 -1.85
Orientation: 186.62 0.63 -1.83
Orientation: 186.64 0.76 -1.85
Orientation: 186.66 0.64 -1.87
Orientation: 186.71 0.73 -1.79
Orientation: 186.72 0.65 -1.88
Orientation: 186.74 0.62 -1.77
Orientation: 186.76 0.72 -1.85
Orientation: 186.77 0.67 -1.96
Orientation: 186.78 0.56 -1.98
Orientation: 186.85 0.66 -1.95
Orientation: 186.87 0.76 -1.87
Orientation: 186.91 0.83 -1.97
Orientation: 186.93 0.74 -1.89
Orientation: 186.94 0.62 -1.92
Orientation: 186.97 0.59 -1.81
Orientation: 186.99 0.66 -1.92
Orientation: 187.00 0.60 -1.81
Orientation: 187.02 0.70 -1.90
Orientation: 187.03 0.65 -1.80
Orientation: 187.04 0.70 -1.91
Orientation: 187.08 0.79 -1.99
Orientation: 187.09 0.68 -1.98
Orientation: 187.10 0.64 -1.86
Orientation: 187.12 0.67 -1.99
Orientation: 187.18 0.78 -1.99
Orientation: 187.20 0.71 -1.90
Orientation: 187.21 0.61 -1.82
Orientation: 187.24 0.69 -1.93
Orientation: 187.27 0.77 -2.02
Orientation: 187.28 0.70 -1.93
Orientation: 187.28 0.67 -2.05
Orientation: 187.29 0.78 -1.98
Orientation: 187.32 0.68 -1.92
Orientation: 187.34 0.76 -1.82
Orientation: 187.37 0.75 -1.71
Orientation: 187.37 0.82 -1.82
Orientation: 187.39 0.70 -1.83
Orientation: 187.40 0.65 -1.95
Orientation: 187.41 0.52 -1.95
Orientation: 187.44 0.65 -1.94
Orientation: 187.46 0.54 -1.93
Orientation: 187.47 0.66 -1.92
Orientation: 187.48 0.59 -1.83
Orientation: 187.59 0.56 -1.78
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This will continue until it approaches it's steady state value, which is 295 as it's currently sitting.

Here is the raw data on startup:

Code: Select all

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Whilst this is something that can be dealt with, the main issue is when the sensor is moved about the z-axis (change in yaw). It seems that when the sensor is moved about the z-axis it will try to recover back to it's steady state value .e.g if it's moved from it's steady state value of 295 to 270, the yaw value will try to readjust back to 295. This behavior is shown below:

Code: Select all

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Orientation: 280.61 -0.41 -0.66
Orientation: 280.63 -0.35 -0.59
Orientation: 280.64 -0.37 -0.70
Orientation: 280.65 -0.47 -0.67
Orientation: 280.66 -0.46 -0.55
Orientation: 280.69 -0.50 -0.50
Orientation: 280.70 -0.42 -0.42
Orientation: 280.70 -0.38 -0.54
Orientation: 280.71 -0.29 -0.62
Orientation: 280.72 -0.27 -0.51
Orientation: 280.72 -0.38 -0.48
Orientation: 280.74 -0.29 -0.41
Orientation: 280.75 -0.40 -0.44
Orientation: 280.76 -0.38 -0.56
Orientation: 280.77 -0.28 -0.55
Orientation: 280.78 -0.31 -0.66
Orientation: 280.79 -0.40 -0.58
Orientation: 280.79 -0.37 -0.70
Orientation: 280.80 -0.32 -0.59
Orientation: 280.81 -0.26 -0.48
Orientation: 280.81 -0.37 -0.52
Orientation: 280.81 -0.37 -0.64
Orientation: 280.83 -0.43 -0.74
Orientation: 280.85 -0.38 -0.72
Orientation: 280.86 -0.30 -0.81
Orientation: 280.87 -0.38 -0.73
Orientation: 280.88 -0.28 -0.81
Orientation: 280.88 -0.30 -0.69
Orientation: 280.89 -0.32 -0.57
Orientation: 280.91 -0.42 -0.59
Orientation: 280.92 -0.45 -0.70
Orientation: 280.93 -0.34 -0.63
Orientation: 280.93 -0.41 -0.73
Orientation: 280.95 -0.32 -0.68
Orientation: 280.95 -0.42 -0.62
Orientation: 280.96 -0.33 -0.71
Orientation: 280.97 -0.22 -0.70
Orientation: 280.97 -0.28 -0.60
Orientation: 281.00 -0.32 -0.57
Orientation: 281.00 -0.30 -0.70
Orientation: 281.02 -0.34 -0.64
Orientation: 281.03 -0.31 -0.76
Orientation: 281.04 -0.21 -0.81
Orientation: 281.04 -0.27 -0.71
Orientation: 281.05 -0.38 -0.67
Orientation: 281.06 -0.41 -0.56
Orientation: 281.07 -0.33 -0.63
Orientation: 281.08 -0.43 -0.68
Orientation: 281.09 -0.31 -0.64
Orientation: 281.10 -0.41 -0.59
Orientation: 281.10 -0.35 -0.71
Orientation: 281.12 -0.26 -0.77
Orientation: 281.13 -0.25 -0.66
Orientation: 281.13 -0.33 -0.75
Orientation: 281.15 -0.30 -0.64
Orientation: 281.16 -0.34 -0.75
Orientation: 281.18 -0.27 -0.76
Orientation: 281.19 -0.34 -0.67
Orientation: 281.19 -0.38 -0.79
Orientation: 281.20 -0.30 -0.71
Orientation: 281.22 -0.20 -0.64
Orientation: 281.23 -0.26 -0.69
Orientation: 281.24 -0.36 -0.75
Orientation: 281.25 -0.41 -0.66
Orientation: 281.27 -0.48 -0.70
Orientation: 281.29 -0.37 -0.69
Orientation: 281.30 -0.44 -0.63
Orientation: 281.31 -0.35 -0.55
Orientation: 281.32 -0.41 -0.66
Orientation: 281.33 -0.31 -0.74
Orientation: 281.34 -0.32 -0.61
Orientation: 281.35 -0.41 -0.59
Orientation: 281.36 -0.29 -0.58
Orientation: 281.38 -0.31 -0.64
Orientation: 281.39 -0.38 -0.54
Orientation: 281.40 -0.28 -0.61
Orientation: 281.41 -0.32 -0.51
Orientation: 281.42 -0.39 -0.57
Orientation: 281.42 -0.43 -0.69
Orientation: 281.44 -0.31 -0.66
Orientation: 281.45 -0.39 -0.59
Orientation: 281.46 -0.27 -0.61
Orientation: 281.47 -0.36 -0.57
Orientation: 281.48 -0.42 -0.68
Orientation: 281.48 -0.30 -0.65
Orientation: 281.50 -0.27 -0.75
Orientation: 281.52 -0.32 -0.69
Orientation: 281.52 -0.42 -0.63
Orientation: 281.53 -0.40 -0.51
Orientation: 281.54 -0.35 -0.60
Orientation: 281.55 -0.27 -0.69
Orientation: 281.56 -0.38 -0.68
Orientation: 281.56 -0.27 -0.73
Orientation: 281.57 -0.24 -0.62
Orientation: 281.58 -0.34 -0.59
Orientation: 281.59 -0.44 -0.63
Orientation: 281.60 -0.35 -0.56
Orientation: 281.63 -0.31 -0.59
Orientation: 281.63 -0.20 -0.65
Orientation: 281.63 -0.32 -0.67
Orientation: 281.65 -0.22 -0.68
Orientation: 281.66 -0.23 -0.79
Orientation: 281.67 -0.32 -0.71
Orientation: 281.68 -0.27 -0.61
Orientation: 281.69 -0.37 -0.66
Orientation: 281.70 -0.32 -0.56
Orientation: 281.72 -0.41 -0.60

Here is the raw data when the sensor is rotated about the z-axis (not directly related to the orientation change shown above). Change can be seen near the start when gyro val goes to -26549.

Code: Select all

Raw:108,-108,8356,-10,92,-29,-215,-143,-180
Raw:113,-106,8368,-37,80,-5,-216,-125,-182
Raw:115,-106,8387,-3,52,-24,-220,-141,-183
Raw:116,-122,8358,-38,49,-46,-223,-143,-180
Raw:108,-105,8365,-33,93,8,-219,-135,-189
Raw:118,-113,8361,-79,71,-66,-227,-142,-189
Raw:108,-111,8363,-77,52,-19,-213,-130,-179
Raw:146,-98,8372,-34,76,7,-228,-133,-180
Raw:112,-102,8354,2,27,-43,-232,-142,-192
Raw:105,-122,8375,-50,47,-7,-220,-138,-186
Raw:138,-109,8357,-27,51,-29,-224,-142,-187
Raw:126,-113,8363,-61,36,2,-224,-132,-184
Raw:103,-123,8369,-30,37,-16,-233,-138,-178
Raw:128,-114,8371,-9,56,-30,-219,-127,-182
Raw:130,-123,8360,-60,50,-30,-221,-135,-187
Raw:136,-112,8360,-29,66,-34,-229,-132,-187
Raw:157,-118,8357,-69,47,-10,-225,-123,-188
Raw:116,-107,8360,-63,37,14,-228,-138,-175
Raw:136,-105,8378,-23,54,-39,-224,-127,-187
Raw:119,-116,8357,-29,44,-10,-220,-138,-178
Raw:125,-136,8335,-42,71,-33,-213,-137,-184
Raw:129,-99,8374,-52,55,11,-219,-130,-187
Raw:108,-126,8351,-43,100,-19,-225,-131,-178
Raw:136,-100,8343,-62,66,-59,-216,-142,-192
Raw:114,-109,8345,-16,82,-22,-220,-128,-180
Raw:-696,-642,8338,-419,306,-14867,-228,-131,-191
Raw:268,438,8329,-327,267,-12548,-239,-128,-188
Raw:-1396,-622,8379,-627,466,-23684,-240,-117,-174
Raw:384,456,8309,-665,452,-26549,-263,-96,-193
Raw:406,863,8335,-557,416,-21212,-283,-65,-187
Raw:316,300,8339,-323,287,-11859,-288,-57,-179
Raw:369,146,8348,-230,143,-8368,-288,-50,-187
Raw:300,65,8369,-202,172,-5547,-295,-48,-191
Raw:693,231,8342,-55,75,-1577,-296,-30,-187
Raw:138,-156,8370,-53,53,-28,-293,-32,-177
Raw:113,-147,8358,-35,54,-26,-293,-40,-177
Raw:141,-160,8380,-40,45,-8,-289,-36,-188
Raw:125,-117,8356,-8,54,-39,-292,-36,-178
Raw:147,-135,8371,-41,41,10,-289,-28,-186
Raw:134,-145,8365,-7,48,-2,-287,-31,-183
Raw:116,-134,8388,-52,63,-20,-295,-43,-180
Raw:146,-121,8352,-22,71,-29,-307,-35,-182
Raw:128,-132,8371,-8,90,-25,-292,-33,-191
Raw:132,-137,8346,-24,52,-12,-293,-32,-182
Raw:132,-127,8365,-52,54,-38,-295,-38,-175
Raw:114,-143,8362,-41,94,-41,-295,-36,-188
Raw:147,-130,8365,-58,84,-17,-293,-45,-177
Raw:111,-170,8356,-53,65,-49,-297,-41,-186
Raw:110,-145,8376,-38,108,-12,-291,-32,-187
Raw:118,-127,8381,-72,70,-15,-285,-35,-194
Raw:138,-150,8368,-41,64,-3,-288,-37,-174
Raw:116,-165,8355,-42,72,-27,-292,-46,-188
Raw:113,-126,8369,-31,30,-11,-293,-42,-187
Raw:139,-124,8378,-32,55,-3,-293,-40,-187
Raw:117,-165,8350,-19,52,-23,-300,-36,-180
Raw:146,-120,8366,-19,41,5,-297,-36,-183
Raw:129,-137,8366,-3,89,-24,-289,-33,-188
Raw:104,-153,8364,-34,40,-21,-295,-33,-180
Raw:114,-137,8353,-30,58,40,-287,-38,-188
Raw:150,-121,8364,-13,52,-1,-288,-35,-194
Raw:129,-139,8351,-34,16,-11,-295,-33,-180
Raw:128,-129,8379,-24,78,-51,-289,-28,-183
Raw:154,-153,8357,-71,99,21,-292,-33,-180
Raw:130,-139,8350,-22,30,-4,-292,-31,-183
Raw:129,-128,8361,-24,61,-15,-284,-31,-180
Raw:150,-118,8360,-29,76,-10,-292,-41,-186
Raw:166,-150,8339,-52,57,-9,-303,-33,-183
Raw:145,-119,8366,-23,45,-9,-292,-38,-173
Raw:123,-147,8362,-61,84,-10,-296,-32,-187
Raw:128,-150,8364,-27,42,-3,-291,-40,-187
Raw:147,-139,8371,-8,92,-18,-296,-37,-177
Raw:141,-111,8354,-18,77,-9,-293,-32,-177
Raw:125,-129,8354,-34,49,-32,-285,-37,-187
Raw:112,-123,8375,-33,92,-16,-291,-37,-187
Raw:135,-134,8367,-53,63,-34,-295,-36,-180
Raw:150,-108,8370,-31,88,-18,-292,-31,-183
Raw:146,-127,8364,-41,70,-43,-293,-32,-179
Raw:161,-159,8357,-18,54,-17,-291,-32,-182
Raw:136,-128,8404,-43,68,3,-299,-42,-187
Raw:145,-147,8370,-83,70,-12,-293,-37,-189
Raw:122,-146,8380,-43,66,-12,-288,-30,-174
Raw:162,-133,8382,-36,57,-8,-296,-45,-187
Raw:145,-117,8373,-41,59,2,-305,-41,-178
Raw:151,-97,8366,-39,39,-19,-280,-30,-187
Raw:106,-112,8382,-30,66,-24,-289,-33,-186
Raw:112,-127,8380,-36,81,-42,-284,-33,-180
Raw:141,-135,8354,-65,89,-5,-292,-23,-180
Raw:149,-158,8380,-33,84,-24,-284,-41,-178
Raw:142,-138,8387,-60,104,-20,-288,-30,-187
Raw:155,-137,8379,-79,63,-24,-287,-33,-183
Raw:121,-131,8363,1,55,21,-291,-37,-179
Raw:132,-140,8385,-52,90,-5,-284,-33,-183
Raw:131,-131,8361,-22,100,-15,-292,-36,-178
Raw:112,-141,8378,-34,43,-43,-293,-30,-184
Raw:137,-157,8361,-73,81,-2,-289,-41,-178
Raw:139,-145,8375,-72,59,-17,-288,-35,-182
Raw:120,-119,8368,-43,84,-50,-292,-26,-183
Raw:126,-134,8354,-74,56,-51,-296,-35,-187
Raw:129,-150,8380,-50,69,-15,-293,-25,-189
Raw:124,-125,8363,-29,89,16,-291,-42,-184
Raw:125,-141,8362,-33,71,0,-305,-31,-180
Raw:119,-143,8355,-14,81,-39,-296,-45,-187
Raw:140,-140,8358,-54,55,-35,-281,-31,-188
Raw:1004,-93,8330,33,12,2647,-293,-45,-189
Raw:157,-133,8387,-8,42,684,-296,-37,-174
Raw:199,-111,8359,-27,66,156,-287,-38,-198
Raw:136,-136,8356,-22,47,-47,-289,-28,-183
Raw:127,-145,8375,-20,66,-12,-289,-41,-186
Raw:124,-147,8368,-54,41,64,-288,-37,-184
Raw:100,-121,8353,-44,54,-24,-295,-38,-186
Raw:161,-130,8354,0,4,-41,-291,-40,-177
Raw:143,-155,8375,-61,64,5,-291,-45,-184
Raw:158,-114,8367,-56,71,-38,-293,-40,-182
Raw:137,-131,8336,-61,54,-19,-285,-37,-182
Raw:130,-150,8384,-43,59,-19,-288,-47,-184
Raw:125,-147,8354,-47,78,-30,-291,-45,-187
Raw:132,-138,8366,-53,101,-9,-293,-35,-184
Raw:123,-139,8381,-41,51,-29,-292,-41,-178
Raw:133,-138,8356,-57,35,-12,-279,-43,-196
Raw:148,-147,8375,-73,82,-49,-287,-43,-188
Raw:132,-141,8363,-60,47,-8,-295,-26,-180
Raw:127,-137,8382,-17,75,-17,-289,-38,-178
Raw:124,-128,8347,-29,60,-32,-300,-41,-170
Raw:143,-156,8361,-47,80,-34,-293,-42,-187
Raw:111,-144,8364,-56,84,-19,-295,-41,-178
Raw:132,-130,8367,-10,37,-34,-289,-31,-191
Raw:137,-137,8370,-31,69,-29,-299,-42,-182
Raw:132,-142,8352,-27,63,-22,-284,-38,-183
Raw:130,-145,8357,-36,50,-39,-297,-36,-178
Raw:143,-113,8379,-23,61,-24,-308,-43,-180
Raw:110,-112,8367,12,74,-8,-291,-35,-182
Raw:121,-137,8381,-46,49,-34,-284,-38,-180
Raw:136,-135,8387,-53,42,-24,-292,-36,-188
Raw:129,-144,8375,-29,43,-41,-300,-33,-191
Raw:132,-142,8368,-29,91,-55,-295,-38,-178
Raw:133,-139,8369,-21,66,7,-289,-33,-180
Raw:118,-135,8354,-45,37,-60,-296,-40,-182
Raw:115,-152,8362,-30,22,-11,-284,-41,-191
Raw:160,-156,8344,-45,66,-20,-289,-38,-191
Raw:110,-131,8369,-3,93,-47,-284,-41,-183
Raw:104,-130,8356,-10,14,-7,-291,-42,-189
Raw:135,-139,8351,-41,61,-67,-291,-45,-182
Raw:132,-140,8354,-48,54,-3,-288,-35,-189
Raw:132,-133,8353,-57,84,-42,-293,-42,-184
Raw:127,-140,8361,-2,40,5,-293,-45,-177
Raw:128,-114,8391,-57,16,9,-284,-41,-183
Raw:142,-147,8354,-39,92,-33,-281,-41,-178
Raw:114,-124,8350,-38,41,-38,-296,-40,-184
Raw:137,-134,8374,-7,39,-13,-289,-38,-183
Raw:142,-118,8352,-24,36,2,-292,-38,-186
Raw:131,-131,8346,-34,81,-3,-293,-42,-189
Raw:110,-148,8365,-42,46,-22,-301,-37,-187
Raw:151,-123,8358,-45,38,-9,-288,-37,-182
Raw:136,-133,8343,-52,64,-8,-289,-28,-180
Raw:118,-157,8345,25,50,0,-279,-38,-180
Raw:138,-133,8383,-22,73,-45,-292,-36,-186
Raw:122,-132,8362,-40,94,-3,-297,-43,-188
Raw:134,-142,8363,-41,32,-48,-292,-43,-180
Raw:144,-167,8368,-25,96,-25,-296,-40,-182
Raw:156,-99,8378,-31,48,1,-291,-47,-194
Raw:136,-131,8363,-68,59,0,-287,-41,-186
Raw:135,-135,8348,-67,43,-24,-285,-37,-189
Raw:125,-148,8365,-49,66,0,-288,-42,-184
Raw:118,-138,8362,-48,80,-4,-291,-40,-182

Do you have any idea as to what the cause of this issue could be??


If anyone else is reading this have you experienced this issue or have any ideas?

Best regards,
Jesse

[dpEng]

Hi Jesse,

I am subscribed to this topic so I'll be informed of any replies :)

I have encountered the same issue as you describe and I will take the time to investigate it further. All I can say at the moment is that my code is essentially a combination of Adafruit's Precision NXP and their LSM9DS1 breakout board code ported to the ICM-20948. I have at least one of those breakout boards so I will try their code and see if I get similar behaviour. Assuming their code does give correct yaw values my first thought would be range of magnetometer values being input to the filter algorithms is causing some sort of problem. I hope to get back to you in the next few weeks.

DPEng

[Jaybee654]

Thanks DPEng your help is much appreciated.

I will keep investigating further and post any updates.

[yokotsuno]

Fully functional IMC20948 driver that work with both I2C & SPI available here

Sensor data : https://github.com/IOsonata/IOsonata/bl ... m20948.cpp
DMP : https://github.com/IOsonata/IOsonata/bl ... m20948.cpp

Example use case firmware streaming data over BLE to Nordic Thingy App : https://github.com/IOsonata/IOsonata/tr ... ueIOThingy

Using BLYST Nano Sensor board from : https://www.crowdsupply.com/i-syst/blyst-nano