SOLVED: Yaw Drift with UM7
Hello,
I am experiencing a vexing issue in that using the UM7 ROS driver, after a few minutes (~2) of running the yaw drifts at a seeming constant rate (I don't have enough points to upload an image to illustrate). I can use the reset service of the UM7 driver to reset the EKF, but then after awhile (~ 2 min) it starts to drift again.
The odd thing is that this seems to be a problem that is something to do with ROS UM7 driver. I can use the CH Windows interface and I don't see the issue - i.e, the yaw output is stable.
I am using Firmware U71D. I have calibrated the mag. with the CH Windows serial interface. I have experimented with different settings as suggested here: http://www.chrobotics.com/forums/topi... I have looked through the UM7 driver source code, but can't seem to find anything that would cause this. I have used the verified that the mag. updates are being used by the unit I have made sure to "flash commit" the configuration to the UM7 so that it is non-volatile.
Any help would be greatly appreciated. Brian
SOLUTION
As Stefan suggested, installing the U71C firmware seemed to fix the issue. Thank you!
I've given you some karma, so you should be able to upload images now.
My firmware version of this sensor is U72A and still has the drift. I can't find the older drivers anywhere. Does anyone have them by chance?