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ivan_sc

Iivan_sc · Jul 15, 2024

I am having the same issue described above on one of my units. Device stops responding and need to unplug cable to get it back. Reboot of PC is not enough.

OAK-D W, powered by industrial PC POE. Bootloader version is 0.0.28. Had the same issues on 0.0.26.

I am developing some ROS Noetic code, and sometimes the device stops responding once I want to try my code again. I try to wait after stopping the script to get the device back into some idle state, as mentioned above, but I still face the issue eventually.

How can I debug this issue?

Iivan_sc · Jun 28, 2024

Hello,

I would like to have more info about IMU calibration, if there is any documentation about that.

I want to use the magnetometer from my OAK-D W POE (IMU type: BNO086), but my values are fluctuating a lot, even after switching from MAGNETOMETER_RAW to MAGNETOMETER_CALIBRATED. What is supposed to be the difference between these values? Is it possible to calibrate the sensor on my side based on my environment?

import depthai as dai

pipeline = dai.Pipeline()
imu = pipeline.create(dai.node.IMU)
xlinkOut = pipeline.create(dai.node.XLinkOut)
xlinkOut.setStreamName("imu")

imu.enableIMUSensor(dai.IMUSensor.ACCELEROMETER, 500)
imu.enableIMUSensor(dai.IMUSensor.GYROSCOPE_CALIBRATED, 400)
imu.enableIMUSensor(dai.IMUSensor.MAGNETOMETER_CALIBRATED, 100)

imu.setBatchReportThreshold(1)
imu.setMaxBatchReports(10)
imu.out.link(xlinkOut.input)

with dai.Device(pipeline) as device:
    imuQueue = device.getOutputQueue(name="imu", maxSize=50, blocking=False)    
    print("Starting node")

    while True:
        imuData = imuQueue.get()     
        imuPackets = imuData.packets
    
        for imuPacket in imuPackets:
            acceleroValues = imuPacket.acceleroMeter            
            gyroValues = imuPacket.gyroscope
            magnetometerValues = imuPacket.magneticField            
            m_x = magnetometerValues.x
            m_y = magnetometerValues.y
            m_z = magnetometerValues.z
            print(f"X: {m_x}, Y: {m_y}, Z: {m_z}")

Iivan_sc

I
ivan_sc