Re: [Paparazzi-devel] AHRS over SPI on Tiny

[David Conger]

Hello,

I took a look at the HW branch code today. Am I correct when I think the HW code in razor_imu is bypassing the DCM code on the Razor and just using the ADC outputs and then calculating the Euler Angles in the Autopilot. Then feeding them to estimator. 

Since the Razor is an AHRS already can't the outputs from the AHRS just be fed to estimator directly? Just over SPI feel the Euler Angles output into:

From estimator.c 

/* attitude in radian */

float estimator_phi;

float estimator_psi;

float estimator_theta;

I also see the wiring diagram in the HR branch shows IR sensors are still used alongside the Razor IMU. Is this because it's difficult to remove the IR code? 

-David

On Sep 1, 2010, at 6:30 AM, address@hidden wrote:

Germar, Have a look at the post by Prof. Dr.-Ing. Heinrich Warmers on 23 July 2010.

He has tested a low cost Sparkfun IMU ( RAZZOR IMU 6DOF Razor - Ultra-Thin IMU) with the paparazzi hardware.

 

From: address@hidden [mailto:address@hidden On Behalf Of David Carlson
Sent: Wednesday, 1 September 2010 1:53 PM
To: address@hidden
Subject: Re: [Paparazzi-devel] AHRS over SPI on Tiny

 

Contact hwarm or check out his branch in svn.  I believe they have this IMU working with the autopilot already.

Buzz

On 09/01/2010 09:31 AM, Germar Walter wrote:

Hi,

We are building a fixedwing Aircraft with tiny board.
We want to replace the Thermopiles with a AHRS System. We have purchased the Sparkfun9DOF Razor IMU. On the IMU we are directly calculating eulerian angles via the code provided by http://code.google.com/p/sf9domahrs/source/list.
We have activated the SPI interface on the board to communicate with the paparazzi.
Has anybody done something similar or knows how to use the angles for roll and pitch for stbilization? The code from the gyro.c only takes analogue measurements, but since We have a digital interface we don't want to convert to analogue just to convert back on the paparazzi.

cheers
Germar

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