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Re: [Paparazzi-devel] sparkfun 6dof / imu sensor mounting
From: |
antoine drouin |
Subject: |
Re: [Paparazzi-devel] sparkfun 6dof / imu sensor mounting |
Date: |
Tue, 4 Oct 2011 03:03:16 +0200 |
I disagree about using signs to describe the orientation of the IMU -
signs should only reflect the way sensors are mounted on a particular
model of IMU ( and hence should be hard coded in the specific IMU
header ) - you want to set the signs so that sensor readings are
correct with respect to the IMU frame.
BODY_TO_IMU should be enough to describe the orientation of the IMU
with respect to the vehicle body
hth
Poine
On Tue, Oct 4, 2011 at 1:16 AM, Bernard Davison <address@hidden> wrote:
> Hi Sven,
>
> Changing the orientation is very easily achieved.
> From the configuration on this page
> http://paparazzi.enac.fr/wiki/IMU/SEN-10121 just change
> <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0)"/>
> <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0)"/>
> <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0)"/>
> as required. This is assuming you have it mounted the right way.
>
> If you have it mounted sideways or upside down then you may need to adjust
> <define name="GYRO_P_SIGN" value="1"/>
> <define name="GYRO_Q_SIGN" value="1"/>
> <define name="GYRO_R_SIGN" value="1"/>
> and
> <define name="ACCEL_X_SIGN" value="1"/>
> <define name="ACCEL_Y_SIGN" value="1"/>
> <define name="ACCEL_Z_SIGN" value="1"/>
>
>
> In my airframe I have
> <define name="GYRO_P_SIGN" value="1"/>
> <define name="GYRO_Q_SIGN" value="-1"/>
> <define name="GYRO_R_SIGN" value="-1"/>
> <define name="ACCEL_X_SIGN" value="1"/>
> <define name="ACCEL_Y_SIGN" value="-1"/>
> <define name="ACCEL_Z_SIGN" value="-1"/>
> <define name="BODY_TO_IMU_THETA" value="RadOfDeg(10)"/>
> because I have it mounted upside down and back to front…
> Once you have it mounted in your airframe and flashed the configuration,
> check the messages and PFD to make sure that changes are reported correctly.
>
> Cheers,
> Bernie.
>
> On 03/10/2011, at 7:37 PM, Sven Lorenz wrote:
>
>> Hi,
>>
>> I was happy and surprised that the sparkfun 6dof IMU (*) is working
>> "out-of-the-box" with the ppzuav-IMU module. Well done ;-)
>>
>> Is there a way to allow for the mounting position of such a sensor in a
>> "general" way? From the code I can see only hardcoded orientations for
>> aspirin and ppzimu.
>>
>> Cheers!
>> Sven
>>
>>
>> (*)sparkfun 6dof IMU is a nice and tiny module with ITG3200 and ADXL345
>> connected via I2C
>> http://www.sparkfun.com/products/10121
>>
>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
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