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## Re: [Paparazzi-devel] Are there code already using Xsens MTi-G IMU in pa

 From: Gautier Hattenberger Subject: Re: [Paparazzi-devel] Are there code already using Xsens MTi-G IMU in paparazzi? Date: Mon, 11 Aug 2008 18:10:31 +0200 User-agent: Thunderbird 2.0.0.16 (X11/20080724)

```Hi,

```
This part of the booz code (filters) as been done by Antoine (poine), so I've not really looked into it. I think he can help you better than me.
```
```
By the way, I'm writing some code for a more generic driver for the Xsens IMU. It will be available in september after I can make some tests.
```
Gautier

Haiyang Chao a écrit :
```
```Thanks for your code, Gautier.

```
One more question after I looked the booz_quat_fast_ekf.c about the sensor bias and noise. How did u measure the noise from the gyro? Just keep it static and measure like 1000 data. Are we assuming the noise level around gyro_output = 0 and gyro_output=12 is the same?
```
How did u calculate the R noise? In the code, the R is defined as:
#define AFE_R_PHI   1.3 * 1.3
#define AFE_R_THETA 1.3 * 1.3
#define AFE_R_PSI   2.5 * 2.5

```
Assume the accelerometer has noise level: 0.002 m/s^2/sqrt(hz) and the compass has a noise level: 0.5mGauss. How can I calculate the R_PHI, R_THETA and R_PSI?
```
Regards
Haiyang

```
On Fri, Aug 1, 2008 at 4:49 AM, Gautier Hattenberger <address@hidden <mailto:address@hidden>> wrote:
```
Hi Chao,

There is a driver for the Xsens MTi-G in sw/airborne/booz/quad_xsens.c

If you want to use it on a fixed wing aircraft you will have to do

Gautier

Haiyang Chao a écrit :

Hi, all and probably Gautier if u are not so busy.

I am looking into how to integrate  Xsens MTi-G IMU with
paparazzi for fixed wing UAV right now.

I am wondering if there are already codes written for using
Xsens_MTi-G IMU with paparazzi, especially booz. I checked my
pprz directory and I found only several related files:
paparazzi3/var/include/xsens_protocol.h,
paparazzi3/conf/xsens_MTi_G.xml, sw/tools/gen_xsens.ml
<http://gen_xsens.ml> <http://gen_xsens.ml>. The second one is
created on 2008/04/15 by gautier. The first one is
automatically generated from the second one. Obviously the
protocol with Xsens MTi-G is already there.

But I found nothing while I tried to see if any other files
are using this "xsens_protocol.h". I used "  grep -r -n
'xsens_protocol.h'  ".

So does this mean that there are no codes right now to use
Xsens MTi-G IMU in paparazzi or the developers are still
working on that? I guess I have to write some serial
communication code myself to get the IMU working with pprz, right?

Any comment or discussion on the current status of using Xsens
IMU or other IMUs is welcomed.

Regards
Haiyang
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