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[Paparazzi-devel] Umarim IMU Issue

From: Craig Smith
Subject: [Paparazzi-devel] Umarim IMU Issue
Date: Mon, 8 Oct 2012 20:03:15 -0700

Hey all,
I've got an Umarim lite v2 that I recently picked up, but the gyroscope seems to spaz out every now and then, throwing the AHRS off by quite a bit.  Anyone else having the same problem?
I've attached a plot of the gyros spazing out and a plot of theta and gp.  You can see that its physically not moving (accel_y is constant), but theta is changing due to the gyros. 
To me, it looks like a driver issue misreading a pcket, but I dunno, maybe a bad gyro...  I'm using the example Umarim airframe with the float_dcm ahrs...
any thoughts?
-- Craig

Attachment: 12_10_08__19_28_20_gyros.png
Description: PNG image

Attachment: 12_10_08__19_28_20_theta.png
Description: PNG image

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