CTRE Pigeon2 vs Onboard IMU

[gerth2]

We ran back-to-back testing on the systemcore IMU, and a Pigeon2

The two were physically mounted in about the same spot.

A few times through the run, mechanically aligned to the same wall, and hit a button to reset both gyro's to 0 degrees. DI gyroResetCmd can be used to see this - it shows how much each gyro drifted from last reset.

I'm currently seeing ~10 degrees of drift after rapid spinning and aggressive driving for 1.5 minutes or so? But, both IMU's track within a few degrees even during aggressive operations.

Raw Data:
systemcore_vs_pigeon_2minmatch.zip

Run video:
https://photos.app.goo.gl/ynowsCrc2DxgK6a68

[gerth2]

Many thanks to FRC 1756 ARGOS for lending the Pigeon2 to make this possible!!

[sciencewhiz]

For comparison, here's another team's comparison with a pigeon2. https://www.chiefdelphi.com/t/team-604-quixilver-systemcore-alpha-testing/504903

[gerth2]

Sweet. Yea, two robots, two languages, fairly similar results.

For what it's worth our 80-20 and zip tie mount solution looks far worse than 604's, so we're likely seeing more drift over time as a result.

[bhjelstrom]

Some changes were snuck into alpha 5 to get the IMU into a usable state, but there's still a lot more to do. Thanks for this data!

[fangeugene]

For what it's worth our 80-20 and zip tie mount solution looks far worse than 604's, so we're likely seeing more drift over time as a result.

Ours is VHB + a zip tie on a TPU mount 😅