Re: [Paparazzi-devel] My plane flies "vertically"to the moving direction!

[Felix Ruess]

Hi,

as documented on the wiki, float_dcm does NOT properly deal with a significant BODY_TO_IMU rotation:

https://wiki.paparazziuav.org/wiki/Subsystem/ahrs#DCM_.28floating_point.29

Cheers, Felix

On Sat, May 31, 2014 at 7:59 PM, Refik Sever <address@hidden> wrote:

Did you check this line:

 

    <define name="BODY_TO_IMU_PSI"   value="270." unit="deg"/>

 

 

From: paparazzi-devel-bounces+refiksever=address@hidden [mailto:paparazzi-devel-bounces+refiksever=address@hidden] On Behalf Of ????
Sent: Saturday, May 31, 2014 6:12 PM
To: paparazzi-devel
Subject: Re: [Paparazzi-devel] My plane flies "vertically"to the moving direction!

 

Hi,Felix!

    I think I have disabled the magnetic meter with "<define name="USE_MAGNETOMETER" value="FALSE"/> ". But I still encounter the problem which makes my plane's direction "vertical" to the course.Why?Dose the magnetic meter cause the trouble?Or is the problem caused by anything else?

here's part of my plane's configuration:(paparazzi version 5.0)

  <firmware name="fixedwing">

    <target name="ap"                                              board="lisa_m_2.0">

      <!-- higher frequency for aspirin imu, ouputs data at 100Hz -->

      <configure name="PERIODIC_FREQUENCY" value="120"/>

      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>

      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>

      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>

    </target>

 

    <target name="sim"                                            board="pc"/>

 

    <define name="USE_MAGNETOMETER" value="FALSE"/>

    

    <subsystem name="radio_control" type="ppm"/>

       <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>

       <subsystem name="telemetry" type="transparent">

        <configure name="MODEM_BAUD"                            value="B9600"/>

       </subsystem>

    <subsystem name="control"/>

    <subsystem name="imu" type="aspirin_v2.1"/>

    <subsystem name="ahrs" type="float_dcm"/>

    <subsystem name="gps" type="ublox">

        <configure name="GPS_BAUD"    value="B38400"/>

    </subsystem>

    <subsystem name="navigation"/>

    <subsystem name="ins" type="alt_float"/>

  </firmware>

  

  <section name="AHRS" prefix="AHRS_">

      <define name="H_X"       value="0.8277"/>

      <define name="H_Y"       value="-0.0363"/>

      <define name="H_Z"        value="0.5599"/>

     

  <section name="IMU" prefix="IMU_">

    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>

    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>

    <define name="BODY_TO_IMU_PSI"   value="270." unit="deg"/>

    

    <define name="MAG_X_NEUTRAL" value="-136"/>

    <define name="MAG_Y_NEUTRAL" value="138"/>

    <define name="MAG_Z_NEUTRAL" value="35"/>

    <define name="MAG_X_SENS" value="4.12920339526" integer="16"/>

    <define name="MAG_Y_SENS" value="4.20775591601" integer="16"/>

    <define name="MAG_Z_SENS" value="4.48012394873" integer="16"/>

 

  </section>

   

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