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Re: [Paparazzi-devel] Invensense MPU-9150 (3 axis mag, accel, gyro in 4x

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Invensense MPU-9150 (3 axis mag, accel, gyro in 4x4mm package)
Date: Fri, 23 Mar 2012 09:19:25 +0100


I am actually still searching for the datasheet of the motion processor. Invensense split the datasheet into 

-PS (product specification) that is around for a while and allowed to develop the PCB.
-RM (register map) that was only recently released and allowed to write the driver...
-?? but still no word to be found about the motion processor. I probably missed it somewhere. Anyone has this (prelim.) datasheet?


On Mar 22, 2012 10:43 PM, "Chris Wozny" <address@hidden> wrote:
I'd be curious to see how well the MPU6000's internal "Digital Motion
Processing" handles in comparison to what Paparazzi already has for
AHRS. If it worked well it would be nice to offload the processing
from microprocessor to it. The MPU6000 even supports plugging a
magnetometer into it for more accurate measurements. Christophe, did
you play around with this DMP at all and make any findings?

- Chris

On Wed, Feb 22, 2012 at 10:53 AM, Prof. Dr.-Ing. Heinrich Warmers
<address@hidden> wrote:
> Hi,
> the Diydrohes project is testing the new   MPU6000 sensors
> This Autopilot is offered  for 199$.
> They have also a new version (V3) of  the ADRUIMU with this
> sensor:.
> They write that  the sensor fusion inside the sensor is working much better
> than the DCM.
> Next year they will sell a arm autopilot.
> What is about the code range  for the ST Processor ?
> Ollimex has a low cost 24 Euro  PCB:
> With the  invensense
> sensor shield it seems to be possible to make the autopilot  below 50 Euro.
> Heinrich
> Andre Devitt schrieb:
> great, hadn't seen that! thanks.
> On Wed, Feb 22, 2012 at 11:02 AM, Felix Ruess <address@hidden> wrote:
> Yeah, let's hope it won't take as long as for the MPU6000...
> Also the Aspirin2 uses the MPU6000 and the driver is already written (by
> Christophe DeWagter) and already in the dev branch...
> Cheers, Felix
> On Wed, Feb 22, 2012 at 4:44 PM, Andre Devitt <address@hidden> wrote:
> Just posting a link to new Invensense IMU chip. 3 axis mag, accel, and
> gyro in 4x4 mm package. Seems promising for lower cost future
> autopilots.
> Apparently will be available 4/16/12
> It looks like they basically took their previous 6000 series (gyro +
> accel only) and stacked a magnetometer on top of it (package is a bit
> taller but otherwise the same, pin compatible).
> Considering the cost of the 6000 series is about $13-$15 this could
> significantly bring down the costs of autopilots in the future if the
> 9000 series is priced similarly.
> I've played with the a microquad that uses the 6000 series and it
> seems very stable.
> I hope to get a paparazzi driver up for the MPU-6000 within the next
> month or so, will forward any progress I make.
> Andre

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