Re: [Paparazzi-devel] re: razor imu

[Oliver Riesener]

Hi Felix, Hi Ana,

i have the new analogimu and ahrs_float_dcm codes with razor imu on tiny13 well 
working
at the github branch 0lri/paparazzi. The airplane ist HB_TINY_RAZOR in 
conf.xml.HB.
The code is actual to paparazzi/paparazzi master branch last week.

Thanks for porting goes here to Christoph, Christophe and Felix !

Please merge it into paparazzi master branch, i miss write access.

Ana, you (and your airplane) have still to wait 2:30 min for ahrs_aligner() has 
finished
calibrating the gyro offsets, then the PFD is working ... :-).
I have changed ahrs_aligner() to takes only 1:30 min, without knowing the 
traps. ;-)

Cheers, Oliver



Am 13.01.2011 18:15, schrieb Felix Ruess:
> Hi Ana,
>
> I just merged Christophe's fastperiodic branch (which as the name says allows 
> to set a separate Periodic/IMU freq, Propagation Freq and Correction Freq). 
> Have a look at conf/airframes/TU_Delft/MicrojetCDW.xml if you are interested in 
> that.
>
> You might want to have a look at the example_twog_analogimu.xml airframe file. 
> But beware that the IMU neutral/sign/sense values are not correct. Maybe 
> someone with a razor IMU can actually test this and set the correct ones?
>
> Cheers, Felix
>
> On Thu, Jan 13, 2011 at 12:35 PM, Christoph Niemann <address@hidden 
> <mailto:address@hidden>> wrote:
>
>     Hi Ana,
>
>     the integration of the Code was done by Felix and Christophe in December, 
> as you know. I for myself didn't have the time yet to evaluate, that the code 
> in the main branch is working, so I'm afraid, I can't help you with that, yet. 
> But if you just want to try if your Hardware and you Code is working, or you 
> want a logfile of a working instance of the Razor-IMU, you might want to have a 
> look at this: http://paparazzi.enac.fr/wiki/User:Christoph
>     There i described my setup and there is also a link to the github branch, 
> I'm actualle using. Perhaps it helps.
>
>     Good luck
>
>     Christoph
>
> >     Am 13.01.2011 09:57 schrieb "GARCIA ALVAREZ, ANA" <address@hidden 
> > <mailto:address@hidden>>:
> >
> >
> >     Sorry I ask again, I am trying to incorporate a razor imu into a fixed wing 
> > aircraft.
> >
> >      I don’t know if it should work with the current software in the main 
> > branch or if I should change anything. I know the autopilot gets the values 
> > from the adcs, because I can see them in the messages accel and gyro.
> >
> >     But I don’t have evidence that these values are used in order to let the 
> > autopilot know the attitude of the aircraft(the attitude message is fixed and 
> > the PFD doesn’t move)-I assume this is the difference between using an imu or 
> > the ir sensors-.
> >
> >     What files should I look for? Is there any branch where they work and I 
> > could have as reference?
> >
> >     Another question related to the imu is that the sensor outputs only change 
> > from one unit to another. I mean, with the accel values in m/s2, the z 
> > component is 10 (9 or 11), not intermediate values.Changing the “sens” 
> > parameter I get 100, but no more accurate. Is it the normal behavior?
> >
> >     Thanks
> >
> >
> >     _______________________________________________
> >     Paparazzi-devel mailing list
> >     address@hidden <mailto:address@hidden>
> >     http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>     _______________________________________________
>     Paparazzi-devel mailing list
>     address@hidden <mailto:address@hidden>
>     http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel