Re: [Paparazzi-devel] Yaw from AHRS

[Christophe De Wagter]

I have seen PCB of at least 6 versions of aspirin now... so I lost track but I suppose there might be differences.

Can anyone give us an overview, then I am willing to adapt the code.

@Loic: do not forget to define AHRS_H_X H_Y and H_Z to define your local magnetic field as long as we do not have this automated using GPS.

-Christophe 

On Tue, Nov 1, 2011 at 9:55 AM, Loic Drumettaz <address@hidden> wrote:

Hi Christophe,

I finally solved the problem. When I was pointing X to the north and 60° down, i had something like [0 0 150]. Y to the same direction: [-150 0 0] and Z, [0 150 0].
So I modified the channels in aspirin.h:

#define IMU_MAG_X_CHAN 2    /* X  in Z */
#define IMU_MAG_Y_CHAN 0    /* Y in X */   
#define IMU_MAG_Z_CHAN 1    /* Z in Y */

And I also modified the sign of Y:

#define IMU_MAG_Y_SIGN    -1

After these modifications the AHRS filter measures correctly the yaw: I don't have any more weird transients. Thank you for your help.
I think I have an aspirin V2.0. I'm surprised that I had to change the code in aspirin.h, there is no other way to do that?


Regards
Loïc





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