IG-500 Device status provides important information about the sensor health. This article explains all the information that can be found in this status field.
Activating device status output
To be able to see the status you first need to make sure they are activated, then you can see them when you display the status window:
- Calibration: This status concerns the factory-made calibration. It should always be "Ok", otherwise a factory calibration is necessary.
- Settings: It will be wrong only if the last settings could not be properly loaded. In that case the default settings are used.
- Protocol: Shows if there is a communication problem. Can be wrong if the frame format is not good, or in case of saturation of output buffer.
- Altimeter: Check if initialized. If wrong, try restarting the device or you won't be able to use the pressure sensor.
- GPS: Define the state of the communication between the GPS receiver and the device. If wrong on an IG-500E, you should check the wiring between the GPS and the IG-500. If wrong on IG-500N, then please contact the support.
The accelerometers and gyroscopes have a self test status for each axis. This status will appear to be wrong if the device is moved when started, even if the sensor is actually working. In order to check if a specific sensor passed the self test, you have to maintain the device static while starting it.
The range indicator will show if one of the gyroscopes or accelerometers goes out of its measurement range and can not provide trusted values anymore. It can be more or less easy to reach depending on the sensor option chosen. For instance a 5g accelerometer will go out of range for accelerations superiors to 50m/s².
The magnetometer status shows if the magnetic field around the device is heavily disturbed. Having it wrong tells you the magnetometers are not usable at all. You can have a light disturbance that will not cause this status to be wrong, but will get the "Heading" status to be "No" (if heading is set on "magnetometers"). It will actually go wrong if the magnetic norm is below 0.5 or above 1.5. Ideally the norm should be very close to 1, between [0.95 - 1.05] for normal operation with magnetometers.
- Valid: Tells if the GPS "Leap seconds" are known. This is the time difference between GPS time and UTC time. This information is useful on IG-500N, but this flag will always be 0 on IG-500E with external NMEA receiver, because NMEA does not provide this information.
- Rough accuracy: UTC time data is received over the serial protocol, but there is no synchronization using the PPS signal. Time accuracy is roughly 0.25s.
- Synchronized: Time is fully synchronized using the PPS signal, which means 1µs accuracy.
These status show what can be computed by the Kalman filter.
- Gravity: Shows if the device is able to detect gravity. If wrong, it means the attitude values may drift. This can happen if too many accelerations occurs, having GPS signal reception reduces the chances to have this status wrong.
- Heading: This status will be wrong if no heading solution can be computed. The cause will vary depending on the heading source (no speed, acceleration, or clean magnetic field)
- Velocity: Wrong if no velocity can be computed by the Kalman filter because no trusted velocity information were received since too much time.
- Position: Wrong if no position can be computed by the Kalman filter because no trusted position information were received by the device for too long.