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

[Christophe De Wagter]

in your standard airframe xml file remove all infrared and ublox files and defines and add:

ap.srcs += latlong.c gps.c gps_xsens.c 

and module:

<load name="ins_xsens_MTiG.xml">

  <param name="XSENS_UART_NR" value="1" />

</load>

that's it. Just in case: the ins_xsens_MTiG.xml we use is:

_________

<!DOCTYPE module SYSTEM "../module.dtd">

<module name="ins">

  <!-- <depend conflict="ins" -->

  <!-- <depend require="gps_xsens" -->

  <header>

    <file name="estimator.h"/>

    <file name="ins.h"/>

  </header>

  <init fun="ins_init()"/>

  <periodic fun="ins_periodic_task()" freq="60"/>

  <event fun="InsEventCheckAndHandle(handle_ins_msg())"/>

  <makefile>

    <flag name="USE_UART$(XSENS_UART_NR)"/>

    <flag name="INS_LINK" value="Uart$(XSENS_UART_NR)"/>

    <flag name="UART$(XSENS_UART_NR)_BAUD" value="B115200"/>

    <flag name="USE_GPS_XSENS"/>

    <file name="ins_xsens.c"/>

  </makefile>

</module>

_________

On Thu, Sep 2, 2010 at 11:16 AM, Rui Costa <address@hidden> wrote:

Hello,

 

I'm trying to get back again to this project and compensating the time lost last months.

 

I would like to use the XSens Mti-G Module (with internal GPS and barometer for kinematic conpensations) but I don't know how to start to integrate it with paparazzy. Anyone have tried with paparazzi on a fixed wing aircraft?

Regards

Rui Costa

 

On Thu, Sep 2, 2010 at 7:00 AM, Prof. Dr.-Ing. Heinrich Warmers <address@hidden> wrote:

Hello,
in our flight code only the analogue inputs from the razzor  IMU  and the speed vector over ground from the GPS
 is used to estimate the attitude.
The the wires   to the IR sensors as the other Sparkfun Modules (pressure and magnet) is only used  for our test bench.
We use the IR code to fill in the estimated attitude from the DCM  code to the paparazzi  system.
You need only to take the six outputs of the razzor  IMU to fly  normal planes.
It is possible  to use the  ADC  LTC1168 (16Bit)  to get this information over the SPI  interface.
This needs   approx.. 22us  for  each valure.
Reagards
Heinrich



David Conger schrieb:

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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--
Rui Costa
www.azoreanuav.com

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