minIMU-9 - Heading affected by other axis

impsnldavid · February 15, 2012, 6:54pm

I’m having some issues with the accuracy of the heading using the minIMU9AHRS system. Basically, even after many calibrations using the example code, the heading value fluctuates wildly, to around ±5 of the actual value. Also, when rotating the board along the X or Y axis, the heading does not stay constant, and the Z value is severely affected (I’m testing with the sensor fixed to a tripod so I know that the actual Z value is not changing). The sensor also drifts randomly on certain occasions, and after a movement will drift in the respective direction for a time after the movement has stopped.I get the same results when using the example ‘Heading’ code that comes with the LSM303 library. I’ve also tried switching the axis definitions in the code, with no effect.

Is there something wrong with the sensor or am I expecting too much in terms of accuracy?

pounce · February 15, 2012, 10:18pm

How are you performing the calibration?

impsnldavid · February 15, 2012, 10:38pm

Using the arduino sketch in the examples of the LSM303 library, and inputting the values into the main sketch.

mike31416 · February 16, 2012, 1:16pm

Mine is fairly stable when rotating around the z axis. I did notice that the readings are affected by magnetized metal objects moving near the sensor. Moving a magnet about 2 feet away would make it “jiggle”.

Mike

pounce · February 16, 2012, 1:48pm

When you are running it are you picking up the sensor and rotating it in a figure 8 through all of it’s possible rotations until the output numbers do not increment further?

impsnldavid · February 16, 2012, 3:17pm

Yup, I’ve done lots of calibrations this way. I’m also using it a considerable distance away from my laptop and any other metal/magnetic objects.

pounce · February 16, 2012, 3:41pm

Does it drift the same when it’s being hand held vs attached to the tripod?

I had lots of drift at first. I calibrated and recalibrated several times before it seemed to settle down. Are you keeping it very level at reset and using the default orientation with the chips facing down?

impsnldavid · February 16, 2012, 5:54pm

Yeah it’s pretty much the same. The drift I could (potentially) cope with due to my particular application, but the biggest issue is the way that moving the sensor along any of the axis changes the readings from the others. This makes it impossible to get an accurate position reading.

I’ve done about 10 calibrations. I’m getting roughly the same values each time. I am keeping it level during reset and I am using it chips down.

pounce · February 16, 2012, 10:39pm

How do you have it wired up? How far from the Arduino?

Can you try a different cable to the PC?

How are you holding it level and startup?

impsnldavid · February 16, 2012, 11:17pm

I’ve got four wires with female header pins attached connecting to the Arduino. They’re all about 250mm long. At startup it’s attached to a tripod using electrical tape so it’s definitely still.

I’ll try using different cables.

pounce · February 17, 2012, 3:48pm

Try setting it on something other than the tripod. I notice this kind of thing when I anchor it with an alligator clip type holder.

impsnldavid · February 17, 2012, 5:56pm

Have tried different cables, and setting on wooden desk away from metal objects. Still the same.

wholder · February 19, 2012, 7:13am

I’m having the same problem. My board is also connected chip side down and mounted on a proto shield board using very short wires (1.5 inches) to connect all leads. The whole assembly is nowhere near the computer, or any source of metal. However, I see several odd things.

I’ve tried calibrating several times and each time get substantially different min/max values.
I’ve tried making a map of headings on a paper chart taped to the wooden table under the board. However, I get very poor repeatability. That is, I mark the value for a given position of the board and, later, when I put the board in the fact same position, I get a value that’s off by 20 to 30 degrees. Sometimes much more.
Likewise, when I try to rotate the board by exactly 90 degrees using a right triangle as a guide, the reading is off by 10-20 degrees from the expected position.

Wayne

kevin · February 20, 2012, 11:24pm

Hello, impsnldavid and Wayne.

When you are finding your calibration offsets, are you making sure to point the board in all possible directions? It is not enough to just rotate the IMU in a circle parallel with the ground; you also need to tilt it up and down so that you face as many points on a sphere as possible.

Could both of you post the calibration constants you are using?

- Kevin

impsnldavid · February 21, 2012, 4:56pm

I have been rotating in all possibles when calibrating. Calibration offsets are as follows:

min X: -820 Y: -735 Z: -587
max X: 560 Y: 504 Z: 702

mike31416 · February 23, 2012, 12:37pm

Perhaps one of the sensors is faulty and is affecting the stability. There is a define PRINT_ANALOGS that will output the gyro, accelerometer and compass raw values when set to 1. If you can capture some of the output and post it we can compare values. I would do this while the minIMU-9 is on a flat surface such as a table.

Another thing to consider is the offset calibration that occurs at start-up. The minIMU-9 should be on a stable level surface when the program starts so the level state offsets can be recorded. This offset calibration at start-up is not the same that is used when you rotate the minIMU-9 and record the min/max x,y and z values used to define the dynamic range of axis readings.

These are the values from the calibration program:

#define M_X_MIN -712
#define M_Y_MIN -718
#define M_Z_MIN -465
#define M_X_MAX 418
#define M_Y_MAX 415
#define M_Z_MAX 457

Here are a few samples of my minIMU-9 output on a level surface:

!ANG: 0.1,-0.2, 72.5,AN:   -7,  -10,  -10,  -10,   -5, -257, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.5,AN:   -7,  -10,  -10,  -10,   -5, -257, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.5,AN:   -8,  -12,  -14,  -10,   -5, -257, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.5,AN:   -4,  -14,  -14,  -10,   -5, -257, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.5,AN:   -4,  -14,  -14,   -6,    2, -265, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.5,AN:   -5,   -6,  -14,   -6,    2, -265, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 72.5,AN:   -5,   -6,  -14,   -6,    2, -265, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 72.5,AN:   -1,   -2,  -15,  -17,  -12, -255, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.5,AN:   -1,   -2,  -12,  -17,  -12, -255, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 72.5,AN:   -8,   -6,  -12,  -17,  -12, -255, 0.0,-0.1, 0.7
!ANG: 0.2,-0.3, 72.5,AN:   -8,  -10,  -13,  -17,  -12, -255, 0.0,-0.1, 0.7
!ANG: 0.2,-0.3, 72.5,AN:   -8,  -10,  -13,   -9,   -8, -256, 0.0,-0.1, 0.7
!ANG: 0.2,-0.3, 72.5,AN:   -7,   -7,  -11,   -9,   -8, -256, 0.0,-0.1, 0.7
!ANG: 0.3,-0.3, 72.5,AN:   -7,   -7,  -11,   -9,   -8, -256, 0.0,-0.1, 0.7
!ANG: 0.3,-0.3, 72.5,AN:  -11,  -10,  -11,   -9,   -8, -256, 0.0,-0.1, 0.7
!ANG: 0.3,-0.3, 72.5,AN:  -11,   -8,  -12,  -10,   -2, -254, 0.0,-0.1, 0.7
!ANG: 0.3,-0.3, 72.5,AN:  -11,   -8,  -12,  -10,   -2, -254, 0.0,-0.1, 0.7
!ANG: 0.2,-0.3, 72.5,AN:   -6,   -7,  -12,  -10,   -2, -254, 0.0,-0.1, 0.7
!ANG: 0.2,-0.3, 72.5,AN:   -6,   -7,  -12,  -10,   -2, -254, 0.0,-0.1, 0.7
!ANG: 0.2,-0.3, 72.5,AN:  -10,   -8,  -12,  -17,    1, -256, 0.0,-0.1, 0.7
!ANG: 0.2,-0.3, 72.5,AN:  -10,   -8,  -12,  -17,    1, -256, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.5,AN:   -8,   -6,  -14,  -17,    1, -256, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.5,AN:   -8,   -6,  -14,  -11,   -5, -261, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.5,AN:  -10,   -6,  -16,  -11,   -5, -261, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.5,AN:  -12,   -7,  -13,  -11,   -5, -261, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.5,AN:  -12,   -7,  -13,  -11,   -5, -261, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.4,AN:   -8,   -7,  -12,   -8,   -4, -259, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.4,AN:   -8,   -7,  -12,   -8,   -4, -259, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.4,AN:  -12,   -7,  -13,   -8,   -4, -259, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.4,AN:  -12,   -7,  -13,   -8,   -4, -259, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 72.4,AN:   -7,   -5,  -15,   -2,   -2, -250, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 72.4,AN:   -7,   -3,  -12,   -2,   -2, -250, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.4,AN:   -7,   -3,  -12,   -2,   -2, -250, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 72.4,AN:  -10,  -10,  -11,  -13,   -2, -253, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 72.4,AN:  -10,  -10,  -11,  -13,    1, -253, 0.0,-0.1, 0.7
!ANG:-0.0,-0.2, 72.4,AN:   -7,  -12,   -8,  -13,    1, -253, 0.0,-0.1, 0.7
!ANG:-0.0,-0.2, 72.4,AN:  -12,   -3,   -4,  -13,    1, -253, 0.0,-0.1, 0.7
!ANG:-0.1,-0.3, 72.4,AN:  -12,   -3,   -4,   -8,   -4, -262, 0.0,-0.1, 0.7
!ANG:-0.1,-0.2, 72.4,AN:  -12,    0,  -13,   -8,   -4, -262, 0.0,-0.1, 0.7
!ANG:-0.1,-0.2, 72.4,AN:  -12,    0,  -13,   -8,   -4, -262, 0.0,-0.1, 0.7
!ANG:-0.1,-0.2, 72.4,AN:  -10,   -2,  -14,   -8,   -4, -262, 0.0,-0.1, 0.7
!ANG:-0.1,-0.2, 72.4,AN:  -12,   -9,  -15,  -15,    6, -252, 0.0,-0.1, 0.7
!ANG:-0.1,-0.2, 72.3,AN:  -12,   -9,  -15,  -15,    6, -252, 0.0,-0.1, 0.7
!ANG:-0.2,-0.3, 72.3,AN:   -7,  -10,  -12,  -15,    6, -252, 0.0,-0.1, 0.7
!ANG:-0.2,-0.3, 72.3,AN:   -7,  -10,  -12,   -9,   -2, -255, 0.0,-0.1, 0.7
!ANG:-0.2,-0.3, 72.3,AN:   -6,  -11,   -9,   -9,   -2, -255, 0.0,-0.1, 0.7
!ANG:-0.2,-0.3, 72.3,AN:   -7,  -11,  -11,   -9,   -2, -255, 0.0,-0.1, 0.7
!ANG:-0.3,-0.3, 72.3,AN:   -7,  -11,  -11,   -9,   -2, -255, 0.0,-0.1, 0.7
!ANG:-0.3,-0.3, 72.3,AN:   -7,  -10,  -12,  -13,   -7, -256, 0.0,-0.1, 0.7
!ANG:-0.2,-0.3, 72.3,AN:   -7,  -10,  -12,  -13,   -7, -256, 0.0,-0.1, 0.7
!ANG:-0.2,-0.3, 72.3,AN:   -5,   -6,  -13,  -13,   -7, -256, 0.0,-0.1, 0.7
!ANG:-0.2,-0.3, 72.3,AN:   -5,   -6,  -13,  -13,   -7, -256, 0.0,-0.1, 0.7
!ANG:-0.2,-0.3, 72.3,AN:   -6,   -7,  -11,  -14,  -13, -253, 0.0,-0.1, 0.7
!ANG:-0.1,-0.4, 72.3,AN:   -7,   -8,  -13,  -14,  -13, -253, 0.0,-0.1, 0.7
!ANG:-0.0,-0.4, 72.3,AN:   -7,   -8,  -13,  -14,  -13, -253, 0.0,-0.1, 0.7
!ANG: 0.0,-0.4, 72.3,AN:   -7,   -8,  -11,  -17,    0, -250, 0.0,-0.1, 0.7
!ANG: 0.0,-0.4, 72.3,AN:   -7,   -8,  -11,  -17,    0, -250, 0.0,-0.1, 0.7
!ANG:-0.0,-0.5, 72.3,AN:   -6,   -2,  -12,  -17,    0, -250, 0.0,-0.1, 0.7
!ANG:-0.0,-0.5, 72.3,AN:   -6,   -2,  -12,  -17,    0, -250, 0.0,-0.1, 0.7
!ANG:-0.1,-0.5, 72.2,AN:  -12,   -4,   -6,   -4,   -4, -269, 0.0,-0.1, 0.7
!ANG:-0.1,-0.5, 72.2,AN:  -11,   -4,  -12,   -4,   -4, -269, 0.0,-0.1, 0.7
!ANG:-0.1,-0.4, 72.2,AN:  -11,   -4,  -12,   -4,   -4, -269, 0.0,-0.1, 0.7
!ANG:-0.1,-0.4, 72.2,AN:  -16,   -7,  -10,   -4,   -4, -269, 0.0,-0.1, 0.7
!ANG:-0.1,-0.4, 72.2,AN:  -16,   -7,  -10,   -6,   -5, -254, 0.0,-0.1, 0.7
!ANG:-0.1,-0.3, 72.2,AN:  -11,   -8,  -13,   -6,   -5, -254, 0.0,-0.1, 0.7
!ANG:-0.1,-0.3, 72.2,AN:  -10,   -4,  -13,   -6,   -5, -254, 0.0,-0.1, 0.7
!ANG:-0.0,-0.3, 72.2,AN:  -10,   -4,  -13,   -4,   -6, -246, 0.0,-0.1, 0.7
!ANG:-0.0,-0.2, 72.2,AN:   -7,    1,   -6,   -4,   -6, -246, 0.0,-0.1, 0.7
!ANG:-0.0,-0.2, 72.2,AN:   -7,    1,   -6,   -4,   -6, -246, 0.0,-0.1, 0.7
!ANG:-0.0,-0.1, 72.2,AN:  -11,  -12,  -11,   -4,   -6, -246, 0.0,-0.1, 0.7
!ANG: 0.0,-0.1, 72.2,AN:   -4,  -15,  -12,  -10,   -8, -253, 0.0,-0.1, 0.7
!ANG: 0.0,-0.1, 72.1,AN:   -4,  -15,  -12,  -10,   -8, -253, 0.0,-0.1, 0.7
!ANG: 0.1,-0.1, 72.1,AN:  -10,   -7,  -14,  -10,   -8, -253, 0.0,-0.1, 0.7
!ANG: 0.1,-0.1, 72.1,AN:  -10,   -7,  -14,  -10,   -8, -253, 0.0,-0.1, 0.7
!ANG: 0.1,-0.1, 72.1,AN:   -4,   -9,  -15,   -8,   -6, -254, 0.0,-0.1, 0.7
!ANG: 0.1,-0.1, 72.1,AN:   -4,   -9,  -15,   -8,   -6, -254, 0.0,-0.1, 0.7
!ANG: 0.1,-0.1, 72.1,AN:   -8,  -10,  -11,   -8,   -6, -254, 0.0,-0.1, 0.7
!ANG: 0.1,-0.1, 72.1,AN:   -9,  -13,  -12,   -4,   -6, -259, 0.0,-0.1, 0.7
!ANG: 0.2,-0.1, 72.1,AN:   -9,  -13,  -12,   -4,   -6, -259, 0.0,-0.1, 0.7
!ANG: 0.2,-0.0, 72.1,AN:   -5,   -9,   -9,   -4,   -6, -259, 0.0,-0.1, 0.7
!ANG: 0.2,-0.0, 72.1,AN:   -5,   -9,   -9,   -4,   -6, -259, 0.0,-0.1, 0.7
!ANG: 0.2, 0.0, 72.1,AN:   -6,   -5,   -9,  -10,   -2, -256, 0.0,-0.1, 0.7
!ANG: 0.2, 0.0, 72.0,AN:   -6,   -5,   -9,  -10,   -2, -256, 0.0,-0.1, 0.7
!ANG: 0.1, 0.0, 72.0,AN:  -10,   -8,  -10,  -10,   -2, -256, 0.0,-0.1, 0.7
!ANG: 0.1, 0.0, 72.0,AN:   -3,   -5,  -14,  -10,   -2, -256, 0.0,-0.1, 0.7
!ANG: 0.1,-0.0, 72.0,AN:   -3,   -5,  -14,  -17,   -6, -255, 0.0,-0.1, 0.7
!ANG: 0.1,-0.0, 72.0,AN:   -4,    0,  -11,  -17,   -6, -255, 0.0,-0.1, 0.7
!ANG: 0.1,-0.1, 72.0,AN:   -4,    0,  -11,  -17,   -6, -255, 0.0,-0.1, 0.7
!ANG: 0.1,-0.1, 72.0,AN:   -7,   -4,  -11,  -17,   -6, -255, 0.0,-0.1, 0.7
!ANG: 0.2,-0.2, 72.0,AN:   -7,   -4,  -11,  -12,   -1, -249, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.0,AN:  -12,   -2,  -14,  -12,   -1, -249, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.0,AN:  -12,   -2,  -12,  -12,   -1, -249, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 72.0,AN:   -4,   -6,  -12,  -15,   -1, -265, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 71.9,AN:  -13,    2,  -11,  -15,   -1, -265, 0.0,-0.1, 0.7
!ANG: 0.0,-0.3, 71.9,AN:  -13,    2,  -11,  -15,   -1, -265, 0.0,-0.1, 0.7
!ANG: 0.0,-0.3, 71.9,AN:  -11,    0,  -12,  -15,   -1, -265, 0.0,-0.1, 0.7
!ANG:-0.0,-0.3, 71.9,AN:  -11,    0,  -12,  -11,   -7, -257, 0.0,-0.1, 0.7
!ANG: 0.0,-0.3, 71.9,AN:   -6,   -5,  -15,  -11,   -7, -257, 0.0,-0.1, 0.7
!ANG: 0.0,-0.3, 71.9,AN:   -3,   -1,  -13,  -11,   -7, -257, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 71.9,AN:   -3,   -1,  -13,  -11,   -7, -257, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 71.9,AN:  -10,   -7,  -12,   -4,   -9, -256, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 71.9,AN:  -10,   -7,  -12,   -4,   -9, -256, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 71.9,AN:   -9,  -11,  -18,   -4,   -9, -256, 0.0,-0.1, 0.7
!ANG: 0.2,-0.2, 71.9,AN:  -22,  -11,  -18,  -14,   -1, -260, 0.0,-0.1, 0.7
!ANG: 0.1,-0.2, 71.8,AN:  -22,  -11,  -18,  -14,   -1, -260, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 71.8,AN:  -15,   -6,  -15,  -14,   -1, -260, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 71.8,AN:  -15,   -6,  -15,  -14,   -1, -260, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 71.8,AN:   -9,   -4,  -17,   -7,   -3, -256, 0.0,-0.1, 0.7
!ANG: 0.1,-0.3, 71.8,AN:   -9,   -4,  -17,   -7,   -3, -256, 0.0,-0.1, 0.7
!ANG: 0.0,-0.3, 71.8,AN:   -4,   -7,  -13,   -7,   -3, -256, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 71.8,AN:   -8,   -2,  -13,   -7,   -3, -256, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 71.8,AN:   -8,   -2,  -13,  -10,   -3, -265, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 71.8,AN:   -6,   -6,  -17,  -10,   -3, -265, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 71.8,AN:   -6,   -6,  -17,  -10,   -3, -265, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 71.8,AN:   -7,   -9,  -16,  -10,   -3, -265, 0.0,-0.1, 0.7
!ANG: 0.0,-0.2, 71.7,AN:   -9,   -2,  -13,  -25,   -2, -261, 0.0,-0.1, 0.7
!ANG:-0.0,-0.3, 71.7,AN:   -9,   -2,  -13,  -25,   -2, -261, 0.0,-0.1, 0.7
!ANG:-0.0,-0.4, 71.7,AN:   -8,   -1,  -13,  -25,   -2, -261, 0.0,-0.1, 0.7
!ANG:-0.0,-0.5, 71.7,AN:   -8,   -1,  -13,  -14,   -7, -252, 0.0,-0.1, 0.7
!ANG:-0.0,-0.5, 71.7,AN:  -12,   -8,  -12,  -14,   -7, -252, 0.0,-0.1, 0.7
!ANG: 0.0,-0.5, 71.7,AN:  -12,   -8,  -12,  -14,   -7, -252, 0.0,-0.1, 0.7
!ANG: 0.0,-0.6, 71.7,AN:   -5,  -11,  -14,  -14,   -7, -252, 0.0,-0.1, 0.7
!ANG: 0.0,-0.6, 71.7,AN:   -1,   -7,  -12,  -15,  -10, -255, 0.0,-0.1, 0.7
!ANG: 0.1,-0.6, 71.7,AN:   -1,   -7,  -12,  -15,  -10, -255, 0.0,-0.1, 0.7
!ANG: 0.1,-0.6, 71.7,AN:  -10,   -7,  -11,  -15,  -10, -255, 0.0,-0.1, 0.7
!ANG: 0.2,-0.6, 71.6,AN:  -10,   -7,  -11,   -8,   -8, -258, 0.0,-0.1, 0.7
!ANG: 0.2,-0.6, 71.6,AN:  -10,   -5,  -15,   -8,   -8, -258, 0.0,-0.1, 0.7
!ANG: 0.2,-0.6, 71.6,AN:  -10,   -5,  -15,   -8,   -8, -258, 0.0,-0.1, 0.7
!ANG: 0.2,-0.6, 71.6,AN:  -13,   -5,   -9,   -8,   -8, -258, 0.0,-0.1, 0.7
!ANG: 0.2,-0.5, 71.6,AN:  -10,   -5,  -13,  -15,   -8, -256, 0.0,-0.1, 0.7
!ANG: 0.3,-0.6, 71.6,AN:  -10,   -5,  -13,  -15,   -8, -256, 0.0,-0.1, 0.7
!ANG: 0.3,-0.6, 71.6,AN:   -8,   -1,  -11,  -15,   -8, -256, 0.0,-0.1, 0.7
!ANG: 0.3,-0.6, 71.6,AN:   -8,   -1,  -11,  -15,   -8, -256, 0.0,-0.1, 0.7
!ANG: 0.3,-0.6, 71.6,AN:   -7,  -10,  -12,   -8,   -4, -265, 0.0,-0.1, 0.7
!ANG: 0.3,-0.6, 71.6,AN:   -7,  -10,  -12,   -8,   -4, -265, 0.0,-0.1, 0.7
!ANG: 0.3,-0.6, 71.6,AN:   -3,   -7,  -18,   -8,   -4, -265, 0.0,-0.1, 0.7
!ANG: 0.3,-0.6, 71.5,AN:  -13,   -6,  -14,   -8,   -4, -265, 0.0,-0.1, 0.7
!ANG: 0.3,-0.5, 71.5,AN:  -13,   -6,  -14,   -8,   -2, -257, 0.0,-0.1, 0.7
!ANG: 0.3,-0.5, 71.5,AN:   -7,   -6,  -11,   -8,   -2, -257, 0.0,-0.1, 0.7
!ANG: 0.2,-0.5, 71.5,AN:   -7,   -6,  -11,   -8,   -2, -257, 0.0,-0.1, 0.7
!ANG: 0.2,-0.5, 71.5,AN:  -10,  -11,  -12,   -8,   -2, -257, 0.0,-0.1, 0.7
!ANG: 0.2,-0.5, 71.5,AN:  -10,  -11,  -12,  -14,   -5, -257, 0.0,-0.1, 0.7
!ANG: 0.2,-0.5, 71.5,AN:   -7,   -8,   -9,  -14,   -5, -257, 0.0,-0.1, 0.7
!ANG: 0.2,-0.5, 71.5,AN:   -7,   -8,   -9,  -14,   -5, -257, 0.0,-0.1, 0.7
!ANG: 0.2,-0.5, 71.5,AN:    1,  -10,  -12,   -8,    1, -258, 0.0,-0.1, 0.7
!ANG: 0.2,-0.5, 71.5,AN:  -12,   -9,  -12,   -8,    1, -258, 0.0,-0.1, 0.7
!ANG: 0.1,-0.5, 71.5,AN:  -12,   -9,  -12,   -8,    1, -258, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 71.5,AN:   -3,   -7,  -10,   -8,    1, -258, 0.0,-0.1, 0.7
!ANG: 0.0,-0.4, 71.5,AN:   -8,  -10,  -11,  -10,   -5, -252, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 71.4,AN:   -8,  -10,  -11,  -10,   -5, -252, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 71.4,AN:  -14,   -3,  -12,  -10,   -5, -252, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 71.4,AN:  -14,   -3,  -12,  -14,   -5, -252, 0.0,-0.1, 0.7
!ANG: 0.1,-0.4, 71.4,AN:   -7,   -1,  -13,  -14,   -1, -252, 0.0,-0.1, 0.7
!ANG: 0.0,-0.4, 71.4,AN:   -7,   -1,  -13,  -14,   -1, -252, 0.0,-0.1, 0.7
!ANG: 0.0,-0.5, 71.4,AN:   -8,   -1,  -16,  -14,   -1, -252, 0.0,-0.1, 0.7
!ANG: 0.0,-0.5, 71.4,AN:  -11,   -4,  -18,   -8,    5, -253, 0.0,-0.1, 0.7
!ANG:-0.1,-0.5, 71.4,AN:  -11,   -4,  -18,   -8,    5, -253, 0.0,-0.1, 0.7
!ANG:-0.1,-0.4, 71.4,AN:   -8,   -3,  -15,   -8,    5, -253, 0.0,-0.1, 0.7
!ANG:-0.2,-0.4, 71.4,AN:   -8,   -3,  -15,   -8,    5, -253, 0.0,-0.1, 0.7
!ANG:-0.2,-0.4, 71.4,AN:   -8,   -6,  -17,  -14,    0, -247, 0.0,-0.1, 0.7
!ANG:-0.2,-0.4, 71.4,AN:   -8,   -6,  -17,  -14,    0, -247, 0.0,-0.1, 0.7
!ANG:-0.3,-0.4, 71.3,AN:  -10,   -7,  -12,  -14,    0, -247, 0.0,-0.1, 0.7
!ANG:-0.3,-0.5, 71.3,AN:  -15,  -13,  -14,  -14,    0, -247, 0.0,-0.1, 0.7
!ANG:-0.3,-0.5, 71.3,AN:  -15,  -13,  -14,   -5,    1, -259, 0.0,-0.1, 0.7
!ANG:-0.3,-0.4, 71.3,AN:   -7,  -15,  -14,   -5,    1, -259, 0.0,-0.1, 0.7
!ANG:-0.3,-0.4, 71.3,AN:   -7,  -15,  -14,   -5,    1, -259, 0.0,-0.1, 0.7
!ANG:-0.4,-0.4, 71.3,AN:   -7,   -9,   -8,  -17,   -4, -246, 0.0,-0.1, 0.7
!ANG:-0.4,-0.4, 71.3,AN:  -11,  -10,  -12,  -17,   -4, -246, 0.0,-0.1, 0.7
!ANG:-0.4,-0.4, 71.3,AN:  -11,  -10,  -12,  -17,   -4, -246, 0.0,-0.1, 0.7
!ANG:-0.3,-0.5, 71.3,AN:   -3,   -4,  -12,  -17,   -4, -246, 0.0,-0.1, 0.7
!ANG:-0.3,-0.5, 71.3,AN:   -3,   -4,  -12,  -11,  -12, -250, 0.0,-0.1, 0.7
!ANG:-0.3,-0.5, 71.3,AN:   -6,   -5,  -14,  -11,  -12, -250, 0.0,-0.1, 0.7
!ANG:-0.2,-0.5, 71.3,AN:   -6,   -5,  -14,  -11,  -12, -250, 0.0,-0.1, 0.7
!ANG:-0.2,-0.5, 71.3,AN:   -8,  -12,   -7,  -17,  -12, -250, 0.0,-0.1, 0.7
!ANG:-0.1,-0.5, 71.3,AN:   -6,  -10,  -12,  -17,   -2, -263, 0.0,-0.1, 0.7
!ANG:-0.1,-0.6, 71.3,AN:   -6,  -10,  -12,  -17,   -2, -263, 0.0,-0.1, 0.7
!ANG:-0.1,-0.6, 71.2,AN:   -4,   -8,   -7,  -17,   -2, -263, 0.0,-0.1, 0.7
!ANG:-0.1,-0.7, 71.2,AN:   -4,   -8,   -7,  -13,   -8, -258, 0.0,-0.1, 0.7
!ANG:-0.1,-0.7, 71.2,AN:   -7,   -8,   -7,  -13,   -8, -258, 0.0,-0.1, 0.7
!ANG:-0.1,-0.7, 71.2,AN:   -8,   -6,   -8,  -13,   -8, -258, 0.0,-0.1, 0.7
!ANG:-0.0,-0.7, 71.2,AN:   -8,   -6,   -8,  -13,   -8, -258, 0.0,-0.1, 0.7
!ANG:-0.0,-0.7, 71.2,AN:   -7,   -7,   -9,  -17,   -3, -253, 0.0,-0.1, 0.7
!ANG:-0.0,-0.7, 71.2,AN:   -7,   -7,   -9,  -17,   -3, -253, 0.0,-0.1, 0.7
!ANG:-0.0,-0.7, 71.2,AN:   -4,   -4,  -13,  -17,   -3, -253, 0.0,-0.1, 0.7
!ANG:-0.0,-0.8, 71.2,AN:   -4,   -4,  -13,  -17,   -3, -253, 0.0,-0.1, 0.7
!ANG:-0.0,-0.8, 71.2,AN:  -10,   -7,   -9,   -9,   -7, -257, 0.0,-0.1, 0.7
!ANG:-0.0,-0.8, 71.2,AN:   -7,   -9,  -12,   -9,   -7, -257, 0.0,-0.1, 0.7
!ANG: 0.0,-0.8, 71.2,AN:   -7,   -9,  -12,   -9,   -7, -257, 0.0,-0.1, 0.7
!ANG: 0.0,-0.7, 71.2,AN:   -8,  -11,  -14,  -14,    0, -256, 0.0,-0.1, 0.7
!ANG:-0.0,-0.8, 71.2,AN:   -8,  -11,  -14,  -14,    0, -256, 0.0,-0.1, 0.7
!ANG:-0.0,-0.8, 71.2,AN:  -10,  -11,  -13,  -14,    0, -256, 0.0,-0.1, 0.7
!ANG:-0.1,-0.8, 71.2,AN:  -10,  -11,  -13,  -14,    0, -256, 0.0,-0.1, 0.7
!ANG:-0.1,-0.8, 71.2,AN:   -9,  -11,  -16,  -21,   -3, -252, 0.0,-0.1, 0.7
!ANG:-0.1,-0.8, 71.1,AN:  -11,   -7,  -10,  -21,   -3, -252, 0.0,-0.1, 0.7
!ANG:-0.1,-0.9, 71.1,AN:  -11,   -7,  -10,  -21,   -3, -252, 0.0,-0.1, 0.7
!ANG:-0.1,-1.0, 71.1,AN:   -9,   -2,   -3,  -21,   -3, -252, 0.0,-0.1, 0.7
!ANG:-0.1,-1.0, 71.1,AN:   -9,   -2,   -3,  -17,    2, -250, 0.0,-0.1, 0.7
!ANG:-0.1,-1.0, 71.1,AN:   -4,   -4,   -9,  -17,    2, -250, 0.0,-0.1, 0.7
!ANG:-0.2,-1.0, 71.1,AN:   -7,   -6,  -12,  -17,    2, -250, 0.0,-0.1, 0.7
!ANG:-0.2,-1.1, 71.1,AN:   -7,   -6,  -12,  -10,   -8, -253, 0.0,-0.1, 0.7
!ANG:-0.2,-1.1, 71.1,AN:  -18,  -12,  -13,  -10,   -8, -253, 0.0,-0.1, 0.7
!ANG:-0.2,-1.0, 71.1,AN:  -18,  -12,  -13,  -10,   -8, -253, 0.0,-0.1, 0.7
!ANG:-0.1,-1.0, 71.1,AN:  -11,   -8,  -16,  -10,   -8, -253, 0.0,-0.1, 0.7
!ANG:-0.1,-1.0, 71.1,AN:  -11,   -8,  -16,   -8,    0, -256, 0.0,-0.1, 0.7
!ANG:-0.1,-1.0, 71.1,AN:  -13,   -9,  -19,   -8,    0, -256, 0.0,-0.1, 0.7
!ANG:-0.1,-0.9, 71.1,AN:   -9,  -10,  -16,   -8,    0, -256, 0.0,-0.1, 0.7
!ANG:-0.2,-0.9, 71.1,AN:   -9,  -10,  -16,   -8,    0, -256, 0.0,-0.1, 0.7
!ANG:-0.2,-0.9, 71.1,AN:   -8,   -9,   -8,  -12,   -1, -258, 0.0,-0.1, 0.7
!ANG:-0.2,-0.9, 71.1,AN:   -8,   -9,   -8,  -12,   -1, -258, 0.0,-0.1, 0.7
!ANG:-0.2,-0.9, 71.1,AN:   -9,   -7,  -11,  -12,   -1, -258, 0.0,-0.1, 0.7
!ANG:-0.2,-0.8, 71.1,AN:   -9,   -7,  -11,  -13,   -1, -254, 0.0,-0.1, 0.7
!ANG:-0.2,-0.9, 71.1,AN:   -8,  -12,  -17,  -13,   -9, -254, 0.0,-0.1, 0.7

Mike

kevin · March 5, 2012, 10:52pm

Sorry for not following up quickly in this thread. Unfortunately, I do not have much more to suggest, and without observing the behavior of the IMUs, it is hard to tell whether they are defective or just behaving as expected (and if you might be expecting more from the MinIMU-9 than is realistic). For those who are having problems, we can at least offer you a discount on a second IMU to see if it behaves any better than your first. Please contact us directly with your order information and reference this thread.

- Kevin