[23] fix acc and mag scaling factors and make them configurable

[flynneva]

Signed-off-by: Evan Flynn [email protected]

• closes [bug] Units break REP103 and are not consistent  #23
• closes Usage of dash-seperated script-dir and install-scripts #34
• closes Runtime error: module 'bno055.registers' has no attribute 'START_BYTE_WR' #35

[flynneva]

@Darkproduct could you look over these changes and let me know if they fix the issues you identified in #23? I chose to make these parameters so that in the event that existing users want to keep the old behavior they still can

[Darkproduct]

Yes, looking good from my side. I currently don't have access to hardware but I can check on Thursday if that's necessary.

[flynneva]

@Darkproduct yeah I haven't had access to hardware either but hopefully will later this week. I'll confirm later and report back.

[flynneva]

@kallaspriit if you have some time would be great to get your review. I think I have fixed the missing constants you mentioned in #35 but would love a second pair of eyes. I'll test this branch on hardware tomorrow

[kallaspriit]

Thanks, will try to test later today :)

[kallaspriit]

Hey, I can confirm that given branch compiles without issues and communication with Adafruit BNO055 is working nicely (testing on Raspberry PI 4B, Ubuntu server 20.04, uart5).

Only problem is that during startup I'm consistently getting six Receiving sensor data failed with ZeroDivisionError:"float division by zero" warnings and after that it seems to work fine (getting data on /imu topic). Somewhere it's probably trying to divide by zero but does not log the stack trace.

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [bno055-1]: process started with pid [3517]
[bno055-1] [INFO] [1636651512.736648900] [bno055]: Initializing parameters
[bno055-1] [INFO] [1636651512.752603194] [bno055]: Parameters set to:
[bno055-1] [INFO] [1636651512.755413902] [bno055]:      ros_topic_prefix:       ""
[bno055-1] [INFO] [1636651512.758326944] [bno055]:      connection_type:        "uart"
[bno055-1] [INFO] [1636651512.760868316] [bno055]:      uart_port:              "/dev/ttyAMA1"
[bno055-1] [INFO] [1636651512.763388485] [bno055]:      uart_baudrate:          "115200"
[bno055-1] [INFO] [1636651512.765895597] [bno055]:      uart_timeout:           "0.1"
[bno055-1] [INFO] [1636651512.768630268] [bno055]:      frame_id:               "imu"
[bno055-1] [INFO] [1636651512.771115676] [bno055]:      data_query_frequency:   "100"
[bno055-1] [INFO] [1636651512.773650382] [bno055]:      calib_status_frequency: "0.1"
[bno055-1] [INFO] [1636651512.776171532] [bno055]:      operation_mode:         "12"
[bno055-1] [INFO] [1636651512.778656552] [bno055]:      placement_axis_remap:   "P0"
[bno055-1] [INFO] [1636651512.781175553] [bno055]:      acc_factor:             "100.0"
[bno055-1] [INFO] [1636651512.783697648] [bno055]:      mag_factor:             "16000000.0"
[bno055-1] [INFO] [1636651512.786188464] [bno055]:      gyr_factor:             "900.0"
[bno055-1] [INFO] [1636651512.788727947] [bno055]:      acc_offset:             "[65516, 165, 65512]"
[bno055-1] [INFO] [1636651512.791274098] [bno055]:      mag_offset:             "[65460, 65182, 637]"
[bno055-1] [INFO] [1636651512.793762784] [bno055]:      gyr_offset:             "[2, 65535, 65535]"
[bno055-1] [INFO] [1636651512.796652196] [bno055]: Opening serial port: "/dev/ttyAMA1"...
[bno055-1] [INFO] [1636651512.820942188] [bno055]: Configuring device...
[bno055-1] [INFO] [1636651512.866787167] [bno055]: Bosch BNO055 IMU configuration complete.
[bno055-1] [WARN] [1636651512.889269662] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"
[bno055-1] [WARN] [1636651512.902735770] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"
[bno055-1] [WARN] [1636651512.914167770] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"
[bno055-1] [WARN] [1636651512.926148866] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"
[bno055-1] [WARN] [1636651512.937963776] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"
[bno055-1] [WARN] [1636651512.949206051] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"

[flynneva]

Going to merge this for now and follow up another day on the remaining topics