Update to ROS driver

[mmmfarrell]

The new firmware release for the uINS has a 24bit checksum, so the ROS driver does not work with it.

Also it'd be cool to expose the manual mag_calibration as a rosservice call. It looks like you just need to set DID_MAGNETOMETER_CAL.state to 1 to start calibration and then to 3 to stop and save. Maybe I'll look into making these changes myself.

[superjax]

If you could, that would be awesome. I won't have time to get to it for a little while.

[waltjohnson]

The way to start magnetometer calibration has changed. We will update the user manual in the next week. The following is the manual magnetometer calibration procedure: 1. Start magnetometer calibration by setting DID_INL2_MAG_OBS_INFO.calibrated to -1. 2. Rotate the system 360° in heading. 3. Calibration is complete when DID_INL2_STATUS.mag_cal_done equals 1.

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-- Walt's phone

On Oct 19, 2017, at 10:44 AM, James Jackson ***@***.***> wrote: If you could, that would be awesome. I won't have time to get to it for a little while. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or mute the thread.

[mmmfarrell]

@waltjohnson
It appears that the struct types for DID_INL2_MAG_OBS_INFO and DID_INL2_STATUS (inl2_mag_obs_info_t and inl2_status_t respectively) are not defined anywhere. In
data_sets.h I see the data identifiers (eDataIDs) and am therefore able to stream these sets of data, but I do not know how to interpret or write to them without their corresponding structs defined.
I'm probably just missing something super simple.

[superjax]

I think this was solved, right?

[waltjohnson]

Sorry about that. The offset for DID_INL2_MAG_OBS_INFO.calibrated is 12 and it needs to be set to -1. In the next software release (in about a week), we will make the mag recalibration also available through the DID_CONFIG message, which is not an internal variable. DID_CONFIG.enMagCalibration = 1 *Walt Johnson | CEO & Founder* | *Inertial Sense, LLC* 72 North 720 East | Salem, UT 84653 Office: 801-610-6359 | Mobile: 801-380-0819 | InertialSense.com <http://www.inertialsense.com/> Electronic Privacy Notice. This message is confidential and may be privileged. If you believe that this email has been sent to you in error, please reply to the sender that you received the message in error and delete this e-mail. Thank you.

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On Mon, Oct 23, 2017 at 10:52 AM, Michael Farrell ***@***.***> wrote: @waltjohnson <https://github.com/waltjohnson> It appears that the struct types for DID_INL2_MAG_OBS_INFO and DID_INL2_STATUS (inl2_mag_obs_info_t and inl2_status_t respectively) are not defined anywhere. In data_sets.h <https://github.com/inertialsense/InertialSenseSDK/blob/a7e3a843357048286d783085e9a1c370a7c04a56/src/data_sets.h#L221> I see the data identifiers (eDataIDs) and am therefore able to stream these sets of data, but I do not know how to interpret or write to them without their corresponding structs defined. I'm probably just missing something super simple. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#3 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AOaViHXvymlNl4h1ysQ_xpsbpvWQeEn3ks5svMRbgaJpZM4P_Y3P> .

[waltjohnson]

1. Start magnetometer calibration by setting DID_CONFIG.enMagRecalibration to 1. 2. (Optional) Rotate the system in +/- 90° in pitch and +/- 180° roll. 3. Rotate the system 360° in heading. 4. Calibration is complete after rotating 360° in heading and the *INS_STATUS_MAG_RECALIBRATING bit of the iStatus word is zero. The iStatus word is found in DID_INS_1, DID_INS_2, and DID_INS_3 messages*. *Walt Johnson | CEO & Founder* | *Inertial Sense, LLC* 72 North 720 East | Salem, UT 84653 Office: 801-610-6359 | Mobile: 801-380-0819 | InertialSense.com <http://www.inertialsense.com/> Electronic Privacy Notice. This message is confidential and may be privileged. If you believe that this email has been sent to you in error, please reply to the sender that you received the message in error and delete this e-mail. Thank you. On Sun, Oct 29, 2017 at 3:26 AM, Walt Johnson <walt@inertialsense.com> wrote:

…

Sorry about that. The offset for DID_INL2_MAG_OBS_INFO.calibrated is 12 and it needs to be set to -1. In the next software release (in about a week), we will make the mag recalibration also available through the DID_CONFIG message, which is not an internal variable. DID_CONFIG.enMagCalibration = 1 *Walt Johnson | CEO & Founder* | *Inertial Sense, LLC* 72 North 720 East | Salem, UT 84653 Office: 801-610-6359 <(801)%20610-6359> | Mobile: 801-380-0819 <(801)%20380-0819> | InertialSense.com <http://www.inertialsense.com/> Electronic Privacy Notice. This message is confidential and may be privileged. If you believe that this email has been sent to you in error, please reply to the sender that you received the message in error and delete this e-mail. Thank you. On Mon, Oct 23, 2017 at 10:52 AM, Michael Farrell < ***@***.***> wrote: > @waltjohnson <https://github.com/waltjohnson> > It appears that the struct types for DID_INL2_MAG_OBS_INFO and > DID_INL2_STATUS (inl2_mag_obs_info_t and inl2_status_t respectively) are > not defined anywhere. In > data_sets.h > <https://github.com/inertialsense/InertialSenseSDK/blob/a7e3a843357048286d783085e9a1c370a7c04a56/src/data_sets.h#L221> > I see the data identifiers (eDataIDs) and am therefore able to stream these > sets of data, but I do not know how to interpret or write to them without > their corresponding structs defined. > I'm probably just missing something super simple. > > — > You are receiving this because you were mentioned. > Reply to this email directly, view it on GitHub > <#3 (comment)>, > or mute the thread > <https://github.com/notifications/unsubscribe-auth/AOaViHXvymlNl4h1ysQ_xpsbpvWQeEn3ks5svMRbgaJpZM4P_Y3P> > . >