SEN 14001 compatibility

[marscar]

Is this package compatible with the latest version (SEN 14001)?

[tronicgr]

I double that request. Just got the M0 version (SEN 14001) and was looking for an easy way to adapt it for AHRS. I like that it also has SD datalogging to examine later flight issues.

[mathdexter]

I triple that request. :)

[bolduc-drew]

Make that a quadruple request!

[ZUOHJ016]

I have the SEN-14001,It's not compatible to the Razor_AHRS (version 1.4.2)
Waiting for the newest Razor_AHRS ..........

[bpinaya]

I quintuple that request! 👍

[tanyav2]

So do I!!

[Murphy3220]

I have updated the Razor AHRS to work with SEN-14001. All the credit goes to the original coder. You can find the updated code at https://github.com/Murphy3220/Razor-AHRS-SEN-14001 . It only works for the SEN-14001.

[RijadAlisic]

I have a pull request fixing this issue!

[lebarsfa]

An alternate version that should work with the SEN-14001 as well as previous versions, with optional ROS-compatible output mode : https://github.com/lebarsfa/razor-9dof-ahrs (not tested that much though).

[PratibhaT]

How Do i mount this sensor: SEN-14001 on my robot?
The gyro and accelerometer axis is different from that of magnetometer axis?

[pulkitgoyal1506]

I am facing the problem, it's little confusing!!
https://github.com/Murphy3220/Razor-AHRS-SEN-14001
https://github.com/lebarsfa/razor-9dof-ahrs
I am not sure, How Do I mount it on my robot as the axis for Magnetometer is different from that of acc and gyro?

[lebarsfa]

You can consider that the top is where "sparkfun" is written (the bottom is where there are the LEDs) and the nose is where "9DOF Razor IMU" is written (the rear is where there is the micro USB port). Note however that the angle conventions might be different depending on the firmware you use, the GUI you use, e.g. for raw output values of firmware on https://github.com/lebarsfa/razor-9dof-ahrs (North-East-Down convention) :

• X axis pointing forward
• Y axis pointing to the right
• Z axis pointing down

While for the ROS node output https://github.com/KristofRobot/razor_imu_9dof (North-West-Up convention) :

• X axis pointing forward
• Y axis pointing to the left
• Z axis pointing up

Another thing to check when you mount it is to put it away from the motors or other elements that might cause magnetic disturbances, sometimes it can be a good idea to mount it on top of a dedicated mast of around 20 cm if you need to rely a lot on magnetometers.
So if you are unsure, the best is to test if you get the expected values on your robot and make a coordinate system conversion if you are not happy with the conventions of the firmware or GUI you have chosen.

[pulkitgoyal1506]

RIght now, The IMU is flashed with https://github.com/lebarsfa/razor-9dof-ahrs and I am using https://github.com/KristofRobot/razor_imu_9dof as a node on the ROS after that.
So finally I should be getting North-West-Up convention. But the yaw values I am getting are not making any sense.

Do you think the different orientations of the magnetometer and accel/gyros in MPU 9250 can be a problem(as shown in the image)?

[lebarsfa]

Normally the different orientations of the magnetos vs accel/gyros is supposed to be correctly taken into account in that firmware. Ensure also that you used the recommended version https://github.com/lebarsfa/SparkFun_MPU-9250-DMP_Arduino_Library when building the firmware.

Most of the time, bad yaw values are due to a bad magnetometer calibration, ensure that you did it in a place where there are no dynamic magnetic disturbances (e.g. outside in the middle of a field)...

Also, to debug you could play with the different DEBUG__XXX options in Razor_AHRS.ino to try to determine if it is related to bad magnetometers, bad gyros, etc. You could try also other different firmware (note that the factory one seems to have its own bugs, a corrected one is available on https://github.com/lebarsfa/9DOF_Razor_IMU, using https://github.com/lebarsfa/SparkFun_MPU-9250-DMP_Arduino_Library as prerequisite, see also the discussion on ENSTABretagneRobotics/razor_imu_9dof#36) to try to determine if it is a bug, faulty hardware, strong magnetic disturbances in your environment, etc.

But again, really try to make a careful magnetic calibration in a place far away from any metal (including your computer!)...