[paparazzi-commits] [6222] arduimu fixes

[Martin Mueller]

Revision: 6222
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6222
Author:   mmm
Date:     2010-10-23 22:32:01 +0000 (Sat, 23 Oct 2010)
Log Message:
-----------
arduimu fixes

Modified Paths:
--------------
    
paparazzi3/trunk/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/ReadMe_and-HowTo
    
paparazzi3/trunk/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_UBLOX.pde

Modified: 
paparazzi3/trunk/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/ReadMe_and-HowTo
===================================================================
--- 
paparazzi3/trunk/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/ReadMe_and-HowTo
     2010-10-23 22:24:08 UTC (rev 6221)
+++ 
paparazzi3/trunk/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/ReadMe_and-HowTo
     2010-10-23 22:32:01 UTC (rev 6222)
@@ -20,27 +20,30 @@
 conf/airframes:        "MyAirframe.xml"
        1) insert the module:
                <modules>
-                  <load name="ArduIMU.xml"/>
+                  <load name="ins_arduimu.xml"/>
                </modules>
 
-       2) activate "i2c" and  "modules" :
-               ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-               ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
-               ap.CFLAGS += -DUSE_MODULES
+       2) activate "i2c":
+               <target name="ap"                  board="...">
+                   ...
+                 <define name="USE_I2C0"/>
 
+               <subsystem name="i2c"/> 
 
-Copy the Modules and other Data
-´´´´´´´´´´´´´´´´´´´´´´´´´´´´´´´´´
-conf/modules: "ArduIMU.xml"
-       3) Copy "ArduIMU.xml" into the directory "conf/modules/"
+       3) have INS neutrals
 
-sw/airborne/modules/: "ArduIMU"
-       4) Copy the directory "ArduIMU" into the directory 
"sw/airborne/modules/"
+               <section name="INS" prefix="INS_">
+                 <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+                 <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+               </section>
 
+       4) use settings/tuning_ins.xml
 
+
+
 Flash the ArduImu
 ´´´´´´´´´´´´´´´´´´
-       5) Flash the ArduImu with the adapted Software. For Information 
concernig 
+       5) Flash the ArduImu with the adapted Software. For Information 
concerning 
                flashing of the IMU, read: 
http://code.google.com/p/ardu-imu/wiki/HomePage?tm=6
 
 

Modified: 
paparazzi3/trunk/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_UBLOX.pde
===================================================================
--- 
paparazzi3/trunk/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_UBLOX.pde
        2010-10-23 22:24:08 UTC (rev 6221)
+++ 
paparazzi3/trunk/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_UBLOX.pde
        2010-10-23 22:32:01 UTC (rev 6222)
@@ -119,7 +119,7 @@
             if (ground_speed > SPEEDFILT && gpsFix==0) gc_offset = 
ground_course - ToDeg(yaw);
             recPakOne=0x00;
             //messageNr= 0x05;  // kommt so nicht mehr in die Abfage !!!   
-           
+#if 0           
             // Serial.print("Time von Arduino ;");
                // Serial.print(millis());
                 Serial.print("MesageNr: ");
@@ -144,7 +144,7 @@
                 Serial.print(ecefVZ);
                 Serial.print("; numSV ;");
                 Serial.println((int)(numSV));
-         
+#endif         
         }
         
                
@@ -174,4 +174,4 @@
 }
 
 
-#endif
+#endif