[Elphel-support] Synchronizing GPS data with imu log

Wed Apr 17 15:15:26 PDT 2013

On Tue, Apr 16, 2013 at 8:11 PM, Oleg <support-list at support.elphel.com>wrote:

> 1. What GPS receiver do you use? usb, serial?
>> I am using a Garmin GPS 18 with a serial connection to the camera.
>>
> Garmin GPS18x-5Hz
>
>  2. Go to: http://192.168.0.9/imu_setup.php -> list - please send the
>> page output.
>> <Logger_configuration>
>> <imu_period>-256</imu_period>
>> <sclk_freq>5000000</sclk_freq>
>> <stall>2</stall>
>> <baud_rate>4800.1920076803</baud_rate>
>> <imu_slot>1</imu_slot>
>> <gps_slot>1</gps_slot>
>> <gps_mode>1</gps_mode>
>> ...
>> </Logger_configuration>
>>
>
> Looks like an incorrect GPS configuration.
>
> 1. Please check the gps board data here:
> community-dot-elphel-dot-com-slash-bootblock353
> 2. Find "Read GPS"-button there. What's the result (displayed fine in
> firefox only)?
> The correct output will look like this:
>
>> <board>
>>
>   <serial>F30002</serial>
>>   ...
>>   <port>2</port>
>>   <part>GPS18x-5Hz</part>
>>   <baud>19200</baud>
>>   <sync>1</sync>
>> </board>
>
>
I get the output Elphel103696AF3000213662362802GPS18x-5Hz192001 from the
Read GPS button

> 3. If the following values are different, update them:
>
> Note: don't forget to put the correct serial number in the corresponding
> field.
>
> port = 2 <2(J10)>
> baud = 19200
> sync = 1 <pps in, rising>
>
> 4. backup an old configuration file - telnet session:
>
>> mv /etc/imu_logger.xml /etc/imu_logger.xml.bkp
>
>
> 5.  generate a new configuration - telnet:
>
>> /usr/html/start_gps_compass.php
>
>
> The "/etc/imu_logger.xml" will be recreated.
> http://192.168.0.9/imu_setup.php?list just prints it.
>
> Did this work? (fpcf -imu 1000 | grep "1:")
>

I get the output:
[root at Elphel353 /]1142# /usr/html/start_gps_compass.php
could be ttyUSB0
Setting:  stty -F /dev/ttyUSB0 -echo speed 19200

found NMEA GPS unit
Reading IMU logger configuration from /etc/imu_logger.xml

0000: ff ff ff ff 08 14 00 00 8d 20 00 00 b5 ea 50 03
0010: 30 75 00 00 10 12 14 16 18 1a 1c 1e 20 22 24 26
0020: 40 42 44 46 48 4a 4c 4e 50 52 54 56 0e 70 72 74
0030: 52 4d 43 6e 62 6e 62 6e 62 6e 6e 6e 6e 62 00 00
0040: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0050: 47 47 41 6e 6e 62 6e 62 6e 6e 6e 6e 62 6e 62 62
0060: 62 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0070: 47 53 41 62 6e 6e 6e 6e 6e 6e 6e 6e 6e 6e 6e 6e
0080: 6e 6e 6e 6e 00 00 00 00 00 00 00 00 00 00 00 00
0090: 56 54 47 6e 62 6e 62 6e 62 6e 62 00 00 00 00 00
00a0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00b0: 4f 64 6f 6d 65 74 65 72 20 6d 65 73 73 61 67 65
00c0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00d0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00e0: 00 00 00 00 00 00 00 00
Initializing Exif template: /usr/html/exif.php init  nocompass
Starting NMEA 0183 GPS receiver as /dev/ttyUSB0
exec: /usr/local/bin/nmea2exif /dev/ttyUSB0 &

After running the start_gps_compass.php the imu_setup list is not different.

Trying fpcf -imu 1000 | grep "1:" I get the output

 1: 1366236880.334936 (0x516f1ed0 0x51c58)  0xf9580220 0x4e8544c1
0x90cef869 0x9079e313 0x0e000d7f 0x1f5e972f 0x00f31407 0x00c5f6e0
0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
1: 1366236880.334936 (0x516f1ed0 0x51c58)  0xf9580221 0x694e8544 0x1390cef8
0x7f9079e3 0xe1f80f2d 0xf7e703f6 0xf4e03dcd 0x00ffffcd 0x00000000
0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
1: 1366236880.334936 (0x516f1ed0 0x51c58)  0xf30f3c12 0x80f70f60 0x1f31f01f
0xfff32ff6 0x6e1f6e2f 0xf7ef0e2f 0x00000000 0x00000000 0x00000000
0x00000000 0x00000000 0x00000000 0x00000000 0x00000000

looking at the log I created I now get
249 1366236999.333150: GPS (NMEA):
$GPGSA,A,3,03,06,07,08,10,13,16,,23,,,,2.6,1.6,2.1
2056 1366237000.333135: GPS (NMEA):
$GPRMC,221059,A,4458.4967,N,09313.9702,W,000.0,279.5,170413,000.6,E
4540 1366237001.333120: GPS (NMEA):
GPRMC,221100,A,4458.4967,N,09313.9702,W,000.0,279.5,170413,000.6,E

>

>
> When I am looking at the photo properties I can find the DateTimeOriginal
>> but not a marker for the timestamp.
>
>
> *DateTimeOriginal* in photo properties = *Master**TimeStamp* displayed by
> *read_imu_log.php *from the log file and *TimeStamp* - log timestamps -
> every log record has it:
>
> 170 *1366150854.523725*: [angleX]=>-5.1128082275391E-5
>> [angleY]=>0.00011952236938477 [angleZ]=>0.00013243011474609 [gyroX]
>> =>-0.091235568237305
>
> 171 *1366150854.524045*: *MasterTimeStamp: 1366172454.3739 TimeStamp:
>> 1366172454.524* MasterTimeStamp(precise): 0x516dcec6+5b473
>> TimeStamp(precise)
>
> 172 *1366150854.524131*: [angleX]=>-0.0001010827331543
>> [angleY]=>0.00014835525512695 [angleZ]=>-3.8723236083984E-5 [gyroX]
>> =>-0.40586477050781
>
> 173 *1366150854.524537*: [angleX]=>-6.445491027832E-5
>> [angleY]=>-2.3133361816406E-5 [angleZ]=>-0.00018213331604004 [gyroX]
>> =>0.089074036315918
>
>
> Regards,
> Oleg
>

-- 
*University Of Minnesota: College of Science and Engineering*
*Aerospace Engineering and Mechanics*
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://support.elphel.com/pipermail/support-list_support.elphel.com/attachments/20130417/0d97dbb7/attachment-0002.html>