Re: [Paparazzi-devel] DCM AHRS help

[Blake Chambers]

Looking at the Messages for the "IMU_ACCEL_RAW" the "int32 az (adc)" value hovers around -260, which I'm guessing means it has not been calibrated.

I was looking over the ImuCalibration page, but it looked like it was for rotorcraft.  Can I use the calibration scripts suggested on this page for a fixedwing IMU?  Are there other ways to manually calibrate the three components I am using (l3g4200, adxl345, and hmc5843)?

Respectfully,

Blake J. W. Chambers
MIT '13 Aero/Astro Department
Phi Kappa Theta
Phone: (719) 387-1489

On Mon, Nov 7, 2011 at 3:03 PM, Christophe De Wagter <address@hidden> wrote:

Dear Blake,

How did you calibrate your IMU? Did you look at the messages to see if your accelerometer and gyro's are looking correct (accelerometers should measure -9.81 m/s2).

Choosing another ahrs filter will give the same problems if your calibration is not good enough. 

You can also select "Raw Data" option in the GCS Ap-Telemetry-Mode (http://paparazzi.enac.fr/wiki/GCS#Settings)and look at the raw measurements and log them.

-Christophe 

On Mon, Nov 7, 2011 at 12:52 AM, Blake Chambers <address@hidden> wrote:

Hello,

I am having some issues with the DCM AHRS setup for the PPZUAV IMU.   The attitude value will not increase past + or - 10deg no matter how I hold the autopilot.  

It might be important to note that I have edited the PPZUAV setup to use a l3g4200 gyro instead of the itg3200.

Can someone advice me on how to configure the ahrs correctly?

As a side note, are there any other imu filtering options?

Thank you.

Respectfully,

Blake J. W. Chambers
MIT '13 Aero/Astro Department
Phi Kappa Theta
Phone: (719) 387-1489

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