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

[Gautier Hattenberger]

Hi,

Andreas Gaeb a écrit :
> Hi Gautier,
>
> Gautier Hattenberger schrieb:
>   
> > If you want to use it anyway, activate the modules with the flag
> > -DUSE_MODULES and load the module with :
> > <modules>
> >  <load name="ins_xsens.xml"/>
> > </modules>
> > (if you have an MTiG on uart0 at 115200, try ins_xsens_MTiG_Uart0.xml)
> > I have not fully tested that, so please report if you have bugs.
> >     
> I tried it this way, and it seems to work basically. However, to avoid
> again getting stuck directly after flashing, I had to move the call to
> modules_init() further upward in init_ap(), at least before the
> spi_init(). I still don't understand this behaviour completely, as the
> timespan between turning power on and actually uploading seems to have
> an effect as well. Could be about the Xsens's WakeUpAck message, but I
> don't see this being sent anywhere.
>   
When I was using this code, the ins init was before spi init, but I 
don't see why it whould change something.
> Some things I found in ins_xsens_MTiG_Uart0.xml on the way:
> * gps_xsens.c (which could possibly be moved to modules/ins/), gps.c and
> latlong.c have to be added to the sources as well
>   
Yes. But I haven't gps_xsens.c in modules/ins because I'm not sure it is 
the right place (it could be in a gps module).
> * UART0_BAUD must be B115200, not 115200
>   
corrected
> * period for the periodic task must be at least 0.017
>   
It is now also possible to define the frequency (here freq="60"). And if 
you don't give freq or period, it will use the maximum (so the frequency 
of the main periodic loop).
> Regards,
>         Andreas
>
>
>   
Gautier
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