Question Regarding IMU udp_profile Setting

Software
1

Hi, all

We tried changing the IMU udp_profile on the OS1-32U unit Rev.8 from ACCEL32_GYRO32_NMEA to LEGACY, but it did not work.

Could you please advise us on how to address this issue?

curl -X POST -H “Content-Type: application/json” -d “LEGACY” http:///api/v1/sensor/config/udp_profile_imu

{“error”: {“title”: "405 Method Not Allowed "}}

curl -X PUT -H “Content-Type: application/json” -d “LEGACY” http:///api/v1/sensor/config/udp_profile_imu

{“error”: {“title”: “400 Bad Request”, “description”: “Validation failed for ‘udp_profile_imu’: ‘LEGACY’ is not one of [‘ACCEL32_GYRO32_NMEA’ ]”}}

Regards,

2

Try this instead:

curl -i -X POST <sensor_ip>/api/v1/sensor/config -H \
    'content-type: application/json' --data '{"udp_profile_imu": "LEGACY"}'
3

Thank you for the suggestion.
I tried the configuration below, but the same issue occurred as follows.
Therefore, I suspect this may be a firmware-related issue.

$curl -i -X POST <sensor_ip>/api/v1/sensor/config -H \
‘content-type: application/json’ --data ‘{“udp_profile_imu”: “LEGACY”}’

HTTP/1.1 400 Bad Request
Server: nginx
Date: Thu, 05 Jan 2017 18:34:50 GMT
Content-Type: application/json
Content-Length: 145
Connection: keep-alive
access-control-allow-origin: *
access-control-allow-methods: GET, POST, PUT, DELETE, OPTIONS, PATCH
access-control-allow-headers: Authorization, Content-Type
access-control-max-age: 86400

{“error”: {“title”: “400 Bad Request”, “description”: “Validation failed for ‘udp_profile_imu’: ‘LEGACY’ is not one of [‘ACCEL32_GYRO32_NMEA’]”}}

4

Ah .. they probably have removed the LEGACY imu profile in REV8 (FW4.0). There is zero reason that to use the LEGACY imu profile.

5

Thank you for the clarification.
We would like to compare the performance of the same hardware when using the new IMU profile, ACCEL32_GYRO32_NMEA, versus the LEGACY profile.
In that case, how should we configure the system to achieve behavior equivalent to the LEGACY profile for evaluation purposes?
Since the IMU packet format has changed significantly, we assume that it cannot be evaluated simply by running the same program without modification.

6

We believe that the model implemented outside of ouster-ros can likely be adapted by remapping the IMU Data Block timestamp values in the ACCEL32_GYRO32_NMEA profile to the IMU Diagnostic Time, Accelerometer Read Time, and Gyroscope Read Time fields that were provided in the LEGACY IMU profile.
Therefore, we will close this issue.