Re: [Paparazzi-devel] ArduIMU on Wiki

[David Conger]

Well, all is on hold. The plane flew well in manual but I found the 3-pos 
switch was not working. It stayed in manual unless I turned off the radio. I am 
using a T7CAP Tx and the same files that worked previously so this is a 
mystery. 

-David
On Nov 7, 2010, at 8:33 AM, Martin Mueller wrote:

> Hi David,
> 
> the attitude is only fetched with 15Hz from the arduimu, not sure why the 
> authors set it to that. Maybe they can comment?
> 
> The setup seems to work in general but expect some more work until it can 
> fully replace IR for small/agile planes. And of course Christophes IMU 
> introduction applies.
> 
> Martin
> 
> On 04.11.2010 19:30, David Conger wrote:
>> Awesome, thank you for clarifying. The Tiny211 I was not seeing GPS info but 
>> I was also indoors so I will try closer to a window. The TWOG I will connect 
>> a Paparazzi GPS to it.
>> 
>> Do you think the delay in the GCS display for attitude is normal? I guess 
>> I'll soon find out. I'm trying hard to get this into a FunJet or Merlin. 
>> Prefer the Merlin but there is so little room in there.
>> 
>> -David
>> On Nov 3, 2010, at 10:59 PM, Martin Mueller wrote:
>> 
>>> Hi David,
>>> 
>>> it is in (3) of http://paparazzi.enac.fr/wiki/ArduIMU
>>> 
>>> "This Guide/Software is made to use the ArduIMU without separate 
>>> GPS-Receiver and without Compass/Magnetometer. The GPS-Data is sent by the 
>>> Tiny 2.11 over I2C to the IMU."
>>> 
>>> Martin
>>> 
>>> On 04.11.2010 06:30, David Conger wrote:
>>>> All,
>>>> 
>>>> Some more questions...and observations.
>>>> 
>>>> What of the GPS? The ArduIMU has a connector for a GPS and the code in the 
>>>> AHRS uses GPS to do yaw corrections I believe. I have right now the GPS 
>>>> connected to the ArdduIMU but do not see messages for GPS in the GCS.
>>>> 
>>>> Are my observations correct that the ArduIMU is to be used without the GPS 
>>>> or do I need two GPS to fly with. One for ArduIMU and one for Paparazzi?
>>>> 
>>>> I'll take a photo of my setup tomorrow. I have a YouTube video up of my 
>>>> current setup here: http://www.youtube.com/watch?v=9EFXRy11O7k
>>>> 
>>>> It seems a bit slow. I'll be curious to see if this is not an issue in 
>>>> flight.
>>>> 
>>>> -David
>>>> On Nov 2, 2010, at 9:16 AM, Martin Mueller wrote:
>>>> 
>>>>> Hi David,
>>>>> 
>>>>> with the Arduino debug plug pointing forward in flight and parts up the 
>>>>> directions work ok for me. Maybe it is the earth horizon moving the other 
>>>>> way than the aircraft?
>>>>> 
>>>>> Martin
>>>>> 
>>>>> On 02.11.2010 05:07, David Conger wrote:
>>>>>> Hi Martin,
>>>>>> 
>>>>>> With your help I have a Tiny2.11 with an ArduIMU connected to the I2C 
>>>>>> port. I followed the Wiki and am using your airframe suggested with the 
>>>>>> exception that I also commented the ADC IR values and set the modem to 
>>>>>> transparent.
>>>>>> 
>>>>>> Holding the IMU with the arrows on the IMU for X,Y,Z I see pitch in the 
>>>>>> PFD is shown correctly. However the roll is reversed. If this was an 
>>>>>> airframe with IR I would change the sign for: LATERAL_CORRECTION in the 
>>>>>> INFRARED section. As expected there is no INFRARED section. I sure could 
>>>>>> use a LATERAL_CORRECTION value to modify though :)
>>>>>> 
>>>>>> Is there a way I do not see to reverse the roll? Before doing this I did 
>>>>>> upload the firmware in SVN for the arduIMU (as per the Wiki).
>>>>>> 
>>>>>> BTW, very cool to see IMU data and the PFD artificial horizon responding 
>>>>>> to the IMU movements. Thank you for all your help so far. I think I am 
>>>>>> close.
>>>>>> 
>>>>>> -David
>>>>>> On Oct 30, 2010, at 11:26 PM, Martin Mueller wrote:
>>>>>> 
>>>>>>> Hi David,
>>>>>>> 
>>>>>>>> Thanks to the new notes I have a compiled airframe
>>>>>>>> I would like to try the ArduIMU and followed the steps from the Wiki. 
>>>>>>>> However there was no mention of this value:
>>>>>>>>     <subsystem name="attitude"             type="infrared"/>
>>>>>>>> ...and the IR_ values farther in..
>>>>>>>> Can someone help. If I do  not have IR and am flying with ArduIMU what 
>>>>>>>> becomes of those values? Removing them all brings compile errors. 
>>>>>>>> Leaving them without any IR sensors won't cause issues?
>>>>>>>> Would it be possible for someone who is flying with IMU to post their 
>>>>>>>> airframe to SVN or in a reply? vn100 or ArduIMU or even Booz IMU.
>>>>>>> 
>>>>>>> you might try airframes/mm/fixed-wing/fw_ins_arduimu.xml. The infrared 
>>>>>>> must be removed at the moment not to have two software parts update the 
>>>>>>> estimator. Did you use settings/tuning_ins.xml as mentioned in (4)?
>>>>>>> 
>>>>>>> Martin
>>>>>>> 
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