HelperOrientationViewer error even with correct syntax

Question

Hoc Yap 2023-11-14

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2047057-helperorientationviewer-error-even-with-correct-syntax

回答： Brian Fanous 2023-11-17

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:

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

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
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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.

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