Re: [Paparazzi-devel] Connecting the xsens IMU to the Tiny

[Gautier Hattenberger]

Hello,

There is no really "official" code...
I did the one using the modules 
(http://paparazzi.enac.fr/wiki/Airframe_Configuration#Modules and 
http://paparazzi.enac.fr/wiki/Modules) and this driver may have some 
remaining bugs... I used it some time ago with a quadrotor, but never on 
a fixed wing airframe. Right now, there is nothing to update the 
estimator with the ins data.

If you want to use it anyway, activate the modules with the flag 
-DUSE_MODULES and load the module with :
<modules>
 <load name="ins_xsens.xml"/>
</modules>
(if you have an MTiG on uart0 at 115200, try ins_xsens_MTiG_Uart0.xml)
I have not fully tested that, so please report if you have bugs.

Gautier



Andreas Gaeb a écrit :
> Haiyang Chao schrieb:
>   
> > I think u just need to run the setting using MT manager for the first time.
> > Set stuffs like update frequency, mode, etc.
> >
> > For initialization, GoToConfig --- SetOutputMode ----- SetOutputSettings
> > ------GoToMeasurement.
> > ACK will be sent after each step.
> >     
>
> It seems that it is necessary to introduce a short pause between the
> subsequent messages. Experimenting showed about 2 ms to be necessary.
> With these pauses I can set different output modes from the init
> routine, and it works also directly after flashing. So the communication
>  seems to be working completely right now.
>
> Apart from that: Right now I'm using the code from the modules/ins/
> subdirectory, though there is also some Xsens related code in the csc/
> subdirectory. Is any of the two considered the 'official' one which is
> to be preferred for further development?
>
> Regards,
>         Andreas
>
>
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