makerportal/mpu92-calibration

Calibration procedure for the MPU9250's accelerometer, gyroscope, and magnetometer using Python and a Raspberry Pi Computer

mpu92-calibration's Issues

Acceleration Integration always shows same error

When running acc.'s integration script it always shows an error around 0.8m displacement in the y-axis, doesn't matter if I move it or not.
I commented mag's values because it makes rpi zero to work really slow and not sample fast enough, which results in error in the signal filtering later too.

I also load the calibration coeff's after the calibration is done.

the output:

Data Acquisition Stopped
1540 - number of samples
5 - seconds
308.0 - division (1540/5)
Sample Rate: 308Hz
Displace in y-dir: 0.90m

Error in Acceleration integration

I'm getting the following error after moving the IMU:

python3 accel_integration.py
Starting Data Acquisition
Start Moving IMU...
Data Acquisition Stopped
Traceback (most recent call last):
  File "accel_integration.py", line 189, in <module>
    imu_integrator()
  File "accel_integration.py", line 128, in imu_integrator
    b_filt,a_filt = signal.butter(4,5,'low',fs=Fs_approx)
  File "/home/pi/imu_project/venv/lib/python3.7/site-packages/scipy/signal/filter_design.py", line 2957, in butter
    output=output, ftype='butter', fs=fs)
  File "/home/pi/imu_project/venv/lib/python3.7/site-packages/scipy/signal/filter_design.py", line 2423, in iirfilter
    "must be 0 < Wn < fs/2 (fs={} -> fs/2={})".format(fs, fs/2))
ValueError: Digital filter critical frequencies must be 0 < Wn < fs/2 (fs=6.0 -> fs/2=3.0)

Any idea why this happens?

Does this code only operate on

raspberrypi?

apply this lib

when I use GY-91 as imu , this github code can not be applied on this type of MPU9250
It will always pop out that GY-91 not wired correctly.
Is there anything wrong?