Dear all,
The "ins_arduimu_basic" firmware and the related paparazzi module have
been updated in the master branch.
This should fix a bug concerning the gps data format sent to the arduimu.
The other important change is the air/ground start mechanism. Now, the
arduimu always reads the values stored in the eeprom (gyro and accel
neutrals). The calibration is triggered by the autopilot (can be
controlled by a setting from the GCS or by the flight plan for
example). The main advantage is that the arduimu board is flashed only
once. This calibration is only possible if the speed is low enough to
prevent in-flight recalibration. The setting file to add is
"ins_arduimu_basic.xml" in conf/settings. It provides the
ins_neutral_roll and _pitch, and the calibration flag.
If you are using this code, take care to have a matching
firmware/module (re-flash the arduimu with the latest arduimu_basic
firmware if you've just updated to latest master).
Please report any trouble with this new code. It will be the last
updates probably, as arduimu is not produced anymore.
With the aim of replacing them, we are developing two new boards
(Umarim and NavGo) for our specific applications. They are small
autopilots based on lpc2148 and integrating IMU parts (itg3200,
adxl345 and hmc5883, just to be original...) without GPS, designed for
small fixedwing and quadrotors uavs. First prototypes have been build
and a first version will be published (probably by the end of
September) after some debugging and testing. If you ask, it doesn't do
more than the Lisa/M, it just matches our needs and it gives some work
to our electronic guys...
Some drivers have been wrote for the IMU part. It factorized some of
the code already used for aspirin and ppz_imu. It allows to configure
the sensors to use with i2c without interrupts handling for now. These
drivers could probably be improved and used for the other IMUs.
Gautier Hattenberger
for ENAC UAV Lab
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