Re: [Paparazzi-devel] Connecting the xsens IMU to the Tiny

[Andreas Gaeb]

Haiyang Chao schrieb:
> I think u just need to run the setting using MT manager for the first time.
> Set stuffs like update frequency, mode, etc.
> 
> For initialization, GoToConfig --- SetOutputMode ----- SetOutputSettings
> ------GoToMeasurement.
> ACK will be sent after each step.

It seems that it is necessary to introduce a short pause between the
subsequent messages. Experimenting showed about 2 ms to be necessary.
With these pauses I can set different output modes from the init
routine, and it works also directly after flashing. So the communication
 seems to be working completely right now.

Apart from that: Right now I'm using the code from the modules/ins/
subdirectory, though there is also some Xsens related code in the csc/
subdirectory. Is any of the two considered the 'official' one which is
to be preferred for further development?

Regards,
        Andreas