RE: [Paparazzi-devel] IMU with Tiny 2

[akochevar]

mundhra,

Im using the Tiny 2, but the hardware doesnt matter, functionally they are the same.  I wrote my own filter(actually quite simple) to do the attitude estimation by fusing the accel and gyro data.  There is a much better example in the CVS in the sw/airborne/booz folder of a proper AHRS which uses IMU data.  Not sure why you would want to get rid of IR for a fixed wing application, but I guess if you are trying to fly indoors an IMU is probably your best bet.

 

AJ

-------- Original Message --------
Subject: Re: [Paparazzi-devel] IMU with Tiny 2
From: "Mohit Mundhra" <address@hidden>
Date: Mon, June 30, 2008 2:11 am
To: address@hidden, address@hidden

with which Autopilot have you used the Sparkfun IMU? Is it tiny 1 or tiny 2? What software modifications did you do for that? Is it working fine? I mean are you getting the correct attitude estimation without using the IR sensors?

-
mundhra

On Mon, Jun 30, 2008 at 2:00 PM, sina parastgary <address@hidden> wrote:

I've used an 6 DOF IMU from SparkFun with no software problems.
only use analog signals instead of IR's.


--- On Sat, 6/28/08, address@hidden <address@hidden> wrote:

> From: address@hidden <address@hidden>
> Subject: RE: [Paparazzi-devel] IMU with Tiny 2
> To: address@hidden, address@hidden
> Date: Saturday, June 28, 2008, 4:56 PM

> you are correct.  Look out using the ADCs on the Arm7, they
> are 10 bit only.  You may need to play some tricks to
> filter out the signals because they are analog, and EMI
> considerations are a must.  It can be done though.  Then
> yes its as simple as replacing the infrared.c removing the
> -DIR flag and putting in your own IMU stuff.  Its been
> done, it can be done, and its a great software excercise
> for someone learning paparazzi.
>
> AJ
>
>
>
> -------- Original Message --------
>
> Subject: Re: [Paparazzi-devel] IMU with Tiny 2
>
> From: sina parastgary <address@hidden>
>
> Date: Sat, June 28, 2008 1:58 am
>
> To: address@hidden
>
>
>
> I want to use an IMU with classix.i decide to use analog
> signals on IMU board in connect with autopilot ADCs.clearly
> i must insert kalman filter in infrared.c to use IMU instead
> of IRsensor on ADCs.
>
> i think it doesn't need more changes in software.
>
>
>
> > On Fri, Jun 27, 2008 at 3:21 AM, Mohit Mundhra
>
> > <address@hidden> wrote:
>
> >
>
> > > Is anyone using an IMU board instead of the IR
> Sensors
>
> > for some fixed wing
>
> > > aircraft? If not, can anyone give some estimates
> of
>
> > what all work needs to
>
> > > be done on the software and hardware part to
> integrate
>
> > it with Tiny.
>
> > >
>
> > > --
>
> > > Mohit Mundhra
>
> > >
>
> > >
>
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>
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>
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> >
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--
Mohit Mundhra
--~--~---------~--~----~------------~-------~--~----~
Aurora Integrated Systems
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