HelperOrientationViewer error even with correct syntax
7 次查看(过去 30 天)
显示 更早的评论
I have a persisting error on MATLAB with the helperOrientationViewer class. My code:
a = arduino('COM4', 'Nano33IoT', 'Libraries', 'I2C');
fs = 100; %sample rate in Hz
imu = bno055(a, 'SampleRate', fs, 'OutputFormat', 'matrix','OperatingMode','amg');
ts = tic;
stopTimer = 50;
magReadings=[];
while(toc(ts) < stopTimer)
% Rotate the sensor along x axis from 0 to 360 degree.
% Take 2-3 rotations to improve accuracy.
% For other axes, rotate along that axes.
[accel,gyro,mag] = read(imu);
magReadings = [magReadings;mag];
end
[A, b] = magcal(magReadings); % A = 3x3 matrix for soft iron correction
% b = 3x1 vector for hard iron correction
% GyroscopeNoise, AccelerometerNoise and MagnetometerNoise are determined from the BNO055 datasheet using the following formula
% NoisePower = OutputNoisePowerDensityrms^2 * Bandwidth
GyroscopeNoiseBNO055 = 3.05e-06; % GyroscopeNoise (variance value) in units of (rad/s)^2
AccelerometerNoiseBNO055 = 67.53e-06; % AccelerometerNoise (variance value)in units of (m/s^2)^2
MagnetometerNoiseBNO055 = 1; %MagnetometerNoise (variance value) in units of uT^2
viewer = HelperOrientationViewer('Title',{'AHRS Filter'});
FUSE = ahrsfilter('SampleRate',imu.SampleRate,'GyroscopeNoise',GyroscopeNoiseBNO055,'AccelerometerNoise',AccelerometerNoiseBNO055,'MagnetometerNoise',MagnetometerNoiseBNO055);
stopTimer=10;
magx_correction = b(1);
magy_correction = b(2);
magz_correction = b(3);
ts = tic;
while(toc(ts) < stopTimer)
[accel,gyro,mag] = read(imu);
% Align coordinates in accordance with NED convention
accel = [-accel(:,1), accel(:,2), accel(:,3)];
gyro = [gyro(:,1), -gyro(:,2), -gyro(:,3)];
mag = [(mag(:,1)-magx_correction), -(mag(:,2)- magy_correction), -(mag(:,3)-magz_correction)] * A;
rotators = FUSE(accel,gyro,mag);
for j = numel(rotators)
viewer(rotators(j));
end
end
release(imu);
delete(imu);
clear;
Which is the same as the example (https://uk.mathworks.com/help/supportpkg/arduinoio/ug/read-and-plot-real-time-data-from-bno055-sensor-in-ndof-mode.html) except for the arduino and connection, gives this error:
'HelperOrientationViewer' is used in the following examples:
Wireless Data Streaming Using BNO055 and Bluetooth® and Estimating Orientation Using Sensor Fusion
Binaural Audio Rendering Using Head Tracking
Estimating Orientation Using Inertial Sensor Fusion and MPU-9250
Wireless Data Streaming and Sensor Fusion Using BNO055
IMU and GPS Fusion for Inertial Navigation
Pose Estimation From Asynchronous Sensors
Error in BNO055 (line 27)
viewer = HelperOrientationViewer('Title',{'AHRS Filter'});
When run the live script of the example https://uk.mathworks.com/help/supportpkg/arduinoio/ug/read-and-plot-real-time-data-from-bno055-sensor-in-ndof-mode.html .The same error appears:
viewer = HelperOrientationViewer;
'HelperOrientationViewer' is used in the following examples:
Even this code:
fused1 = quaternion(1,0,0,0);
viewer1 = HelperOrientationViewer;
viewer1(fused1);
Has the error:
'HelperOrientationViewer' is used in the following examples:
Wireless Data Streaming Using BNO055 and Bluetooth® and Estimating Orientation Using Sensor Fusion
Binaural Audio Rendering Using Head Tracking
Estimating Orientation Using Inertial Sensor Fusion and MPU-9250
Wireless Data Streaming and Sensor Fusion Using BNO055
IMU and GPS Fusion for Inertial Navigation
Pose Estimation From Asynchronous Sensors
Error in test (line 2)
viewer1 = HelperOrientationViewer;
1 个评论
Image Analyst
2023-11-15
I'm not even sure what the error is. Are you sure you copied everything? I mean, "'HelperOrientationViewer' is used in the following examples" <== OK, fine but that doesn't look like an error. Then
Error in test (line 2)
viewer1 = HelperOrientationViewer;
OK, that tells us what line in your code produced the error but does not say exactly what the error is.
回答(1 个)
Brian Fanous
2023-11-17
You should use the poseplot function instead of HelperOrientationViewer.
0 个评论
另请参阅
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!