{"action":"created","issue":{"url":"https://api.github.com/repos/NordicSemiconductor/Nordic-Thingy52-FW/issues/29","repository_url":"https://api.github.com/repos/NordicSemiconductor/Nordic-Thingy52-FW","labels_url":"https://api.github.com/repos/NordicSemiconductor/Nordic-Thingy52-FW/issues/29/labels{/name}","comments_url":"https://api.github.com/repos/NordicSemiconductor/Nordic-Thingy52-FW/issues/29/comments","events_url":"https://api.github.com/repos/NordicSemiconductor/Nordic-Thingy52-FW/issues/29/events","html_url":"https://github.com/NordicSemiconductor/Nordic-Thingy52-FW/issues/29","id":340560143,"node_id":"MDU6SXNzdWUzNDA1NjAxNDM=","number":29,"title":"3D Motion Problem in a Specified Movement","user":{"login":"dogusyuksel","id":15047284,"node_id":"MDQ6VXNlcjE1MDQ3Mjg0","avatar_url":"https://avatars0.githubusercontent.com/u/15047284?v=4","gravatar_id":"","url":"https://api.github.com/users/dogusyuksel","html_url":"https://github.com/dogusyuksel","followers_url":"https://api.github.com/users/dogusyuksel/followers","following_url":"https://api.github.com/users/dogusyuksel/following{/other_user}","gists_url":"https://api.github.com/users/dogusyuksel/gists{/gist_id}","starred_url":"https://api.github.com/users/dogusyuksel/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dogusyuksel/subscriptions","organizations_url":"https://api.github.com/users/dogusyuksel/orgs","repos_url":"https://api.github.com/users/dogusyuksel/repos","events_url":"https://api.github.com/users/dogusyuksel/events{/privacy}","received_events_url":"https://api.github.com/users/dogusyuksel/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-07-12T09:31:50Z","updated_at":"2018-07-16T06:47:18Z","closed_at":null,"author_association":"NONE","body":"Hello,\r\n\r\nIt seems to me that there is an issue about the usage of MPU-9250. \r\n\r\nI motioned Thingy and I observed its movement on the app. In all movement combination, SDK finds Thingy' s location perfectly (I can see it on the app) except one movement.\r\n\r\nNow, I am trying to explain this problematic movement.\r\n\r\nI put the Thingy (on its bigger surface) on a table in the way that for example \"Nordic Semiconductor\" text is seen right to me when I look to the Thingy on the table from above. \r\nI put the thingy like I said (on a flat surface) and without removing Thingy from the table surface, I turned it to clockwise and counterclockwise. This movement occurs very problematic results and I can see it on the app, its location is not stable and it jumps.\r\nThen, I put the Thingy on its other (smaller) surface on the table and I follow the same procedure and again the result is problematic just when I exactly do the SAME movement (clockwise and counterclockwise).\r\n\r\nThis situation really bad for our future project and I cannot overcome it by myself. I don't know actually MPU driver causes this problem, or your SDK or is it a real problem also.\r\n\r\nCould you please help me about that.\r\n\r\nThanks.\r\n\r\n\r\nHere are my steps while testing the issue:\r\n\r\n* We get Thingy52 and we use your code in this repository under the path: project\\pca20020_s132\\arm5_no_packs\\ble_app_thingy_s132_pca20020.uvprojx. \r\n* I use Keil and I can build the project with no error or warning\r\n* I use NRFGostudio to program the device. While doing that, I use the hex file that my Keil generated to program application part and I use the soft device s132 hex file under the path: sdk_components\\softdevice\\s132\\hex\r\n* Then I download the app Thingy app to Android and iPhone (results same)\r\n* Then I motion the thingy and observe its motions on the app. My observations are just like mentioned above."},"comment":{"url":"https://api.github.com/repos/NordicSemiconductor/Nordic-Thingy52-FW/issues/comments/405160856","html_url":"https://github.com/NordicSemiconductor/Nordic-Thingy52-FW/issues/29#issuecomment-405160856","issue_url":"https://api.github.com/repos/NordicSemiconductor/Nordic-Thingy52-FW/issues/29","id":405160856,"node_id":"MDEyOklzc3VlQ29tbWVudDQwNTE2MDg1Ng==","user":{"login":"koffes","id":742196,"node_id":"MDQ6VXNlcjc0MjE5Ng==","avatar_url":"https://avatars3.githubusercontent.com/u/742196?v=4","gravatar_id":"","url":"https://api.github.com/users/koffes","html_url":"https://github.com/koffes","followers_url":"https://api.github.com/users/koffes/followers","following_url":"https://api.github.com/users/koffes/following{/other_user}","gists_url":"https://api.github.com/users/koffes/gists{/gist_id}","starred_url":"https://api.github.com/users/koffes/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/koffes/subscriptions","organizations_url":"https://api.github.com/users/koffes/orgs","repos_url":"https://api.github.com/users/koffes/repos","events_url":"https://api.github.com/users/koffes/events{/privacy}","received_events_url":"https://api.github.com/users/koffes/received_events","type":"User","site_admin":false},"created_at":"2018-07-16T06:47:18Z","updated_at":"2018-07-16T06:47:18Z","author_association":"CONTRIBUTOR","body":"Thank you for the detailed feeback in the devzone post: https://devzone.nordicsemi.com/f/nordic-q-a/36351/3d-motion-problem-in-a-specified-movement\r\nI have watched the video. In the beginning where Thingy is rotated around the X (roll) and Y (pitch)-axis (as indicated on the PCB), I expect the results to be good since the sensor fusion gets good absolute information from the accelerometers (as observed). However, when rotated around the Z (yaw) axis, there is no difference in the data coming from the accelerometers. (X and Y are constant at 0 and Z always gives 1 g). This means that the sensor fusion may only in practice use the gyros and magnetometers to give you the heading. \r\nIn the design you have made, as you pointed out, I expect the battery holder and battery to also affect the magnetometers. I'm sorry that I cant assist you in detail, but here are some possible solutions if you want more accurate attitude data:\r\n\r\n- On your own HW, check the documentation in the MPU SW library, and try to calibrate the magentometer.\r\n- Disable the magnetometer in FW and use only the accelerometers and gyros for sensor fusion. This will not give absolute heading relative to the Earths magnetic field.\r\n- If you are C-savvy, you could use the low level MPU drivers, get the raw data from all sensors and run a different sensor fusion algorithm on the nRF52."}}
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