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From: | Eduardo lavratti |
Subject: | Re: [Paparazzi-devel] Drotek imu calibration problem |
Date: | Sun, 7 Apr 2013 16:33:13 -0300 |
Chris, the chdk and airspeed 7002 module is public ?
I finishing my small flywing and i will use my canon sx200 on it. regards. > Date: Sun, 7 Apr 2013 20:08:47 +0300 > From: address@hidden > To: address@hidden > Subject: Re: [Paparazzi-devel] Drotek imu calibration problem > > Hi. > Here is the the relevant section of the airframe file (my airframe is > rather long) > <firmware name="fixedwing"> > > <target name="ap" board="twog_1.0"/> > <target name="sim" board="pc"/> > > <define name="USE_LED_1"/> > <define name="USE_LED_2"/> > <define name="USE_LED_3"/> > <define name="USE_LED_4"/> > <define name="AGR_CLIMB"/> > <define name="WIND_INFO"/> > <define name="WIND_INFO_RET"/> > <define name="STRONG_WIND"/> > <define name="ALT_KALMAN"/> > <define name="USE_I2C0"/> > <define name="SENSOR_SYNC_SEND"/> > <define name="USE_AIRSPEED"/> > <define name="USE_AHRS_GPS_ACCELERATIONS"/> > > > <subsystem name="telemetry" type="transparent"> > <configure name="MODEM_BAUD" value="B9600"/> > </subsystem> > <subsystem name="gps" type="ublox"> > <configure name="GPS_BAUD" value="B38400"/> > </subsystem> > > > <subsystem name="control" type="energy"/> > <subsystem name="radio_control" type="ppm"/> > <subsystem name="navigation" /> > > <subsystem name="imu" type="aspirin2_i2c"> > <define name="MPU60X0_ADDR" value="MPU60X0_ADDR_ALT" /> > <define name="USE_I2C"/> > <define name="USE_I2C0"/> > </subsystem> > > <subsystem name="ahrs" type="float_dcm"/> > <configure name="USE_MAGNETOMETER" value="0"/> > <configure name="SYS_TIME_LED" value="1"/> > <configure name="GPS_LED" value="2"/> > > </firmware> > > <modules> > <load name="baro_ms5611_i2c.xml"> <!-- this is for the DROTEK IMU --> > <define name="MS5611_SLAVE_ADDR=0xEE"/> > <define name="SENSOR_SYNC_SEND"/> > </load> > <load name="nav_catapult.xml"/> > <load name="parachute.xml"/> > <load name="airspeed_adc_7002.xml"/> > <load name="chdk.xml"/> > <!--Turnigy 180 degree analog servo can do 270 degrees rotation --> > <load name="my_cam_v3_3_yaw_pitch_nose_270.xml"/> > <load name="airborne_ant_track.xml"/> > <!-- <load name="my_baro_bmp.xml"/> --> > <!-- <load name="gps_ubx_ucenter.xml"/> --> > </modules> > > <section name="IMU" prefix="IMU_"> > <!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec > / 12bit FRAC: 4096 / 939.65 --> > <define name="GYRO_P_SENS" value="4.359" integer="16"/> > <define name="GYRO_Q_SENS" value="4.359" integer="16"/> > <define name="GYRO_R_SENS" value="4.359" integer="16"/> > > <define name="GYRO_P_Q" value="0."/> > <define name="GYRO_P_R" value="0"/> > <define name="GYRO_Q_P" value="0."/> > <define name="GYRO_Q_R" value="0."/> > <define name="GYRO_R_P" value="0."/> > <define name="GYRO_R_Q" value="0."/> > > <define name="GYRO_P_SIGN" value="1"/> > <define name="GYRO_Q_SIGN" value="1"/> > <define name="GYRO_R_SIGN" value="1"/> > > <!-- Found with calibrate.py script --> > <define name="ACCEL_X_NEUTRAL" value="61"/> > <define name="ACCEL_Y_NEUTRAL" value="6"/> > <define name="ACCEL_Z_NEUTRAL" value="-67"/> > > <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit > FRAC: 1024 / 208.7665 --> > <define name="ACCEL_X_SENS" value="9.81" integer="16"/> > <define name="ACCEL_Y_SENS" value="9.81" integer="16"/> > <define name="ACCEL_Z_SENS" value="9.81" integer="16"/> > > <define name="ACCEL_X_SIGN" value="1"/> > <define name="ACCEL_Y_SIGN" value="1"/> > <define name="ACCEL_Z_SIGN" value="1"/> > > <define name="MAG_X_NEUTRAL" value="0"/> > <define name="MAG_Y_NEUTRAL" value="0"/> > <define name="MAG_Z_NEUTRAL" value="0"/> > > <define name="MAG_X_SENS" value="1" integer="16"/> > <define name="MAG_Y_SENS" value="1" integer="16"/> > <define name="MAG_Z_SENS" value="1" integer="16"/> > > <define name="MAG_X_SIGN" value="1"/> > <define name="MAG_Y_SIGN" value="1"/> > <define name="MAG_Z_SIGN" value="1"/> > > <define name="BODY_TO_IMU_PHI" value="0"/> > <define name="BODY_TO_IMU_THETA" value="0"/> > <define name="BODY_TO_IMU_PSI" value="0"/> > </section> > > ALSO YOU NEED TO EDIT FILE > "~/paparazzi/sw/airborne/peripherals/mpu60X0.h" and replace > the line (#5 i think) with "#define MPU60X0_ADDR 0xD0" with: > > #ifndef MPU60X0_ADDR > #define MPU60X0_ADDR 0xD0 > #else > #warning USER SET MPU60X0 I2C Address > #endif > > in order to be able to set the I2C address from the airframe or elsewhere. > > Chris > > > > On 04/07/2013 07:00 PM, address@hidden wrote: > > Hi Chris, > > > > would you please post your all your airframe configuration ? > > > > I am using same IMU and I want to compare > > > > Thanks > > > > Imed LIMAIEM > > address@hidden > > > _______________________________________________ > Paparazzi-devel mailing list > address@hidden > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
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