Re: [Paparazzi-devel] Are there code already using Xsens MTi-G IMU in paparazzi?

[Gautier Hattenberger]

Hi Chao,

There is a driver for the Xsens MTi-G in sw/airborne/booz/quad_xsens.c

If you want to use it on a fixed wing aircraft you will have to do some 
work to adapt it by making your own parse_ins_msg() function.

Gautier

Haiyang Chao a écrit :
> Hi, all and probably Gautier if u are not so busy.
>
> I am looking into how to integrate  Xsens MTi-G IMU with paparazzi for 
> fixed wing UAV right now.
>
> I am wondering if there are already codes written for using 
> Xsens_MTi-G IMU with paparazzi, especially booz. I checked my pprz 
> directory and I found only several related files: 
> paparazzi3/var/include/xsens_protocol.h, 
> paparazzi3/conf/xsens_MTi_G.xml, sw/tools/gen_xsens.ml 
> <http://gen_xsens.ml>. The second one is  created on 2008/04/15 by 
> gautier. The first one is automatically generated from the second one. 
> Obviously the protocol with Xsens MTi-G is already there.
>
> But I found nothing while I tried to see if any other files are using 
> this "xsens_protocol.h". I used "  grep -r -n 'xsens_protocol.h'  ".
>
> So does this mean that there are no codes right now to use Xsens MTi-G 
> IMU in paparazzi or the developers are still working on that? I guess 
> I have to write some serial communication code myself to get the IMU 
> working with pprz, right?
>
> Any comment or discussion on the current status of using Xsens IMU or 
> other IMUs is welcomed.
>
> Regards
> Haiyang
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