Re: Re: [Paparazzi-devel] My IMU for paparazzi is almost done. Few test flights are successfully performed

[Andrew S]

Hi
Update rate is 50hz, it is only possible rate for AVR, with code compiled by 
gcc. Another commercial compilers allows update rate up to 100hz with same 
code. My IMU works on DCM with floating point mathematics, but without Kalman 
filter. Kalman filter takes a lot of resources, but works not much better than 
simple PI controller. Magneto sensor is not necessary for fixed wing if you 
dont need a real heading for payloads. For pitch and roll estimation it is 
unnecessary. Dont test anything on such small airframes, buy at least easystar, 
or easyglider.
Andrew

25.08.10, 16:07, "C.KUO" <address@hidden>:

> Hi Andrew
>  
>  
>     What is the update rate of your IMU? we are work on the IMU using  
>  the same sensor, ecept we added the magneto sesnor for heading. The  
>  communication is also done though SPI.
>     We have not yet done any flight test yet, but should be quite soon  
>  with out 40cm wing span aircraft (I hope ).
>  
>  
>     It will be nice to see what your IMU hardware and flight test.
>  
>  
>  Regards
>  
>                                                                          Chen
>  
>  
>  引述 Andrew S :
>  
>  > Hello all
>  > I have done my IMU for paparazzi autopilot. My EasyStar flyes  
>  > excellent with it, I can say, much better and stable than with  
>  > thermopiles. I flyed in the 7-8 m/s wind  with 10 m/s airspeed, and  
>  > my Easystar goes wery straight against the wind. IMU is made on  
>  > small pcb and works on AVR microcontroller, communicate with tiny  
>  > via SPI bus. Sensors - LY530, LPR530, ADXL335.  IMU PCB is mounted  
>  > on the Easystars body, but device is not affected by vibration,  
>  > hovewer the plane has got a low vibration kontronik motor. For the  
>  > near future I am going to improve something... polish code, try to  
>  > use LIS344 accel to improve vibration tolerancy, redesign PCB...
>  > Cheers, Andrew
>  >
>  >
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>  
>  
>  
>  C.KUO
>  Aerospace Engineering, MEng
>  Mechanical Engineering, PhD
>  Research Associate
>  Department of Materials Science and Engineering
>  Saarland University
>  Campus Dudweiler
>  Am Markt - Zeile 4
>  66125 Saarbrucken, Germany
>  Tel.: +49 (0) 681 - 302 64197
>  Fax: +49 (0) 681 - 9302 5934
>  
>  
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