Re: [Paparazzi-devel] [Lisa/L + MTi-G] vs [Lisa/L + MTi + GPS]

[Rui Costa]

Thank you Christophe,

 

Will be to incorporate on a 20Kg gas engine aircraft and someone said to use the MTi-g. So, maybe I will try cheaper solutions first. Have to do some tests with the motor running because of vibration.

 

The old Booz IMU will be better that Aspirin IMU or Aspirin is the best solution out there for the paparazzy autopilots at a good price?

 

Cheers

Rui Costa

On Sun, Jul 15, 2012 at 7:31 PM, Christophe De Wagter <address@hidden> wrote:

If the GPS is not taken into account in the full extended kalman filter running on the Blackfin DSP of the XSens (MtiG) you probably do not want to go through the expenses of the XSens at all.

a) either full AHRS (with GPS) in the XSens -> MTiG, and make sure your Magnetometer is well calibrated and positioned such that it has no interference.

b) or the attitude is determined in paparazzi: Then you can also replace the XSens MTi with an Aspirin 2.0 IMU or something like that. The only advantage of the Mti would be it is more vibration resistant and calibrated.

So I personally do not see many reason to ever use an Mti. It is too slow for quadrotors, and not sufficiently compensated for airplanes, and if you do the compensation in paparazzi anyway there are cheaper options. The Mti-G on the other hand, with its aerospace (kalman) filter has proven to be a reliable AHRS when the magnetometer is well calibrated.

-Christophe 

On Sun, Jul 15, 2012 at 3:16 PM, Rui Costa <address@hidden> wrote:

Hello all,

 

I would like to know your opinion about this two configurations:

 

 

1. Lisa/L + MTi-G

2. Lisa/L + MTi + u-blox LEA GPS

 

The second option will be cheaper. But I don't know if it will work and in terms of performance what should be better?

 

 

It's for an fixed wing UAV of about 20Kg.

 

 

 

Cheers

Rui Costa

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