Hi,
A while back I’ve ordered and received an ArduIMU+ V3 from SparkFun, and I tried to get it to work today. After soldering on the right-angle headers, I connected it to my PC using the FTDI Basic Breakout (5V), and uploaded the latest software (1.9) as found on [Google Code.
The IMU seems to initialize fine (the green status LED is on, and the blue and red LEDs blink while it’s initializing), but I’m getting weird readings from the IMU:
Ascii: Roll=00000, Pitch=00000, Yaw=00000, Data=$PGCMD,16,0,0,0,0,0*6A$PMTK220,250*29???Software Version 1.9
Ascii: Roll=00000, Pitch=00000, Yaw=00000, Data=$PMTK220,250*29???Software Version 1.9
Ascii: Roll=00000, Pitch=00000, Yaw=00000, Data=???Software Version 1.9
Ascii: Roll=00000, Pitch=00000, Yaw=00000, Data=???Enabling Magneto...
Ascii: Roll=00000, Pitch=00000, Yaw=00000, Data=???Ground Start!
Ascii: Roll=00000, Pitch=00000, Yaw=00000, Data=???Ground Start!
Ascii: Roll=00500, Pitch=-01600, Yaw=-13300, Data=VER:1.9,AN0:-4.89,AN1:2.77,AN2:1.38,AN3:11.91,AN4:3.81,AN5:4124.44,RLL:0.05,PCH:-0.16,YAW:-1.33,IMUH:255,TOW:0
Ascii: Roll=00500, Pitch=-01600, Yaw=-13300, Data=VER:1.9,AN0:-4.89,AN1:2.77,AN2:1.38,AN3:11.91,AN4:3.81,AN5:4124.44,RLL:0.05,PCH:-0.16,YAW:-1.33,IMUH:255,TOW:0
Ascii: Roll=00500, Pitch=-01600, Yaw=-13300, Data=VER:1.9,AN0:-4.89,AN1:2.77,AN2:1.38,AN3:11.91,AN4:3.81,AN5:4124.44,RLL:0.05,PCH:-0.16,YAW:-1.33,IMUH:255,TOW:0
Ascii: Roll=00500, Pitch=-01600, Yaw=-13300, Data=VER:1.9,AN0:-4.89,AN1:2.77,AN2:1.38,AN3:11.91,AN4:3.81,AN5:4124.44,RLL:0.05,PCH:-0.16,YAW:-1.33,IMUH:255,TOW:0
Ascii: Roll=00500, Pitch=-01600, Yaw=-13300, Data=VER:1.9,AN0:-4.89,AN1:2.77,AN2:1.38,AN3:11.91,AN4:3.81,AN5:4124.44,RLL:0.05,PCH:-0.16,YAW:-1.33,IMUH:255,TOW:0
Ascii: Roll=00500, Pitch=-01600, Yaw=-13300, Data=VER:1.9,AN0:-4.89,AN1:2.77,AN2:1.38,AN3:11.91,AN4:3.81,AN5:4124.44,RLL:0.05,PCH:-0.16,YAW:-1.33,IMUH:255,TOW:0
Ascii: Roll=00500, Pitch=-01600, Yaw=-13300, Data=VER:1.9,AN0:-4.89,AN1:2.77,AN2:1.38,AN3:11.91,AN4:3.81,AN5:4124.44,RLL:0.05,PCH:-0.16,YAW:-1.33,IMUH:255,TOW:0
Ascii: Roll=00500, Pitch=-01600, Yaw=-13300, Data=VER:1.9,AN0:-4.89,AN1:2.77,AN2:1.38,AN3:11.91,AN4:3.81,AN5:4124.44,RLL:0.05,PCH:-0.16,YAW:-1.33,IMUH:255,TOW:0
Ascii: Roll=-01300, Pitch=01500, Yaw=-97600, Data=VER:1.9,AN0:-4.89,AN1:-0.23,AN2:0.38,AN3:-4.09,AN4:-7.19,AN5:4102.44,RLL:-0.13,PCH:0.15,YAW:-9.76,IMUH:255,TOW:0
Ascii: Roll=-01000, Pitch=02000, Yaw=-176100, Data=VER:1.9,AN0:0.11,AN1:-0.23,AN2:0.38,AN3:9.91,AN4:-11.19,AN5:4114.44,RLL:-0.10,PCH:0.20,YAW:-17.61,IMUH:255,TOW:0
Ascii: Roll=01000, Pitch=02600, Yaw=-249300, Data=VER:1.9,AN0:-0.89,AN1:1.77,AN2:0.38,AN3:-5.09,AN4:-8.19,AN5:4109.44,RLL:0.10,PCH:0.26,YAW:-24.93,IMUH:255,TOW:0
Ascii: Roll=02300, Pitch=00500, Yaw=-314700, Data=VER:1.9,AN0:-0.89,AN1:-0.23,AN2:0.38,AN3:-0.09,AN4:-10.19,AN5:4113.44,RLL:0.23,PCH:0.05,YAW:-31.47,IMUH:255,TOW:0
Ascii: Roll=-02300, Pitch=-01600, Yaw=-373700, Data=VER:1.9,AN0:-0.89,AN1:-0.23,AN2:0.38,AN3:4.91,AN4:-7.19,AN5:4105.44,RLL:-0.23,PCH:-0.16,YAW:-37.37,IMUH:255,TOW:0
Ascii: Roll=-02100, Pitch=-00500, Yaw=-425600, Data=VER:1.9,AN0:-1.89,AN1:1.77,AN2:0.38,AN3:1.91,AN4:4.81,AN5:4110.44,RLL:-0.21,PCH:-0.05,YAW:-42.56,IMUH:255,TOW:0
Ascii: Roll=00300, Pitch=01200, Yaw=-470500, Data=VER:1.9,AN0:-0.89,AN1:0.77,AN2:1.38,AN3:-13.09,AN4:-7.19,AN5:4086.44,RLL:0.03,PCH:0.12,YAW:-47.05,IMUH:255,TOW:0
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=VER:1.9,AN0:-4.89,AN1:0.77,AN2:0.38,AN3:15.91,AN4:-17.19,AN5:4126.44,RLL:0.22,PCH:0.11,YAW:-51.02,IMUH:255,TOW:0
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=PPPpTm:20016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=PPpTm:20016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=PpTm:20016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=pTm:20016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=Tm:20016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=m:20016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=:20016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=20016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=0016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=016,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=16,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=6,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02200, Pitch=01100, Yaw=-510200, Data=,mLc:57,DtM:29,gsc:0,adc:0,rsc:0,rbc:0,gms:0,imu:255,
Ascii: Roll=02900, Pitch=-00100, Yaw=-545100, Data=VER:1.9,AN0:2.11,AN1:-2.23,AN2:-0.62,AN3:-19.09,AN4:1.81,AN5:4089.44,RLL:0.29,PCH:-0.01,YAW:-54.51,IMUH:255,TOW:0
Ascii: Roll=-02300, Pitch=-01400, Yaw=-575000, Data=!!VER:1.9,AN0:-4.89,AN1:1.77,AN2:1.38,AN3:12.91,AN4:-15.19,AN5:4126.44,RLL:-0.23,PCH:-0.14,YAW:-57.50,IMUH:255,TOW:0
Ascii: Roll=00200, Pitch=01400, Yaw=-600700, Data=VER:1.9,AN0:-3.89,AN1:0.77,AN2:1.38,AN3:-12.09,AN4:-20.19,AN5:4098.44,RLL:0.02,PCH:0.14,YAW:-60.07,IMUH:255,TOW:0
Ascii: Roll=-03100, Pitch=00500, Yaw=-623200, Data=VER:1.9,AN0:4.11,AN1:-3.23,AN2:-1.62,AN3:8.91,AN4:-11.19,AN5:4074.44,RLL:-0.31,PCH:0.05,YAW:-62.32,IMUH:255,TOW:0
The IMU is just sitting on my desk, I’m not moving it at all. The data above is gathered using ArduIMU Test (as recommended by the ArduIMU Wiki) version 1.1.19 (which multiple people reported as working fine in combination with the ArduIMU+ V3).
Anyone able to explain these readings? Am I doing something wrong?
Thanks in advance!](Google Code Archive - Long-term storage for Google Code Project Hosting.)