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Re: [Paparazzi-devel] razor imu

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] razor imu
Date: Thu, 9 Dec 2010 18:26:55 +0100

Dear Christoph,

I integrated the code from your fork into the main paparazzi branch since many people seem to ask about it or still use the HB branch. I did make some changes though to get it in line with paparazzi, make it more configurable (less hardcoded gains in c-files) but I am still working on it. 

Changes so far:

-merged into paparazzi master (subsystem/imu/imu_analog and subsystem/ashr/dcm/)
-split into an imu (measurements) and an ahrs (attitude) part so other imu can be used too
-removed unused/uncompilable ardiuno code
-reused paparazzi macro's and math
-scale/bias are set in airframe file
-adc's are only configured in airframe file

Changes in progress:

-continue the split into ahrs <-> imu
-rework the initialization part
-re-enable magnetometer option
-some DCM theory upgrades to boost performance



On Wed, Dec 8, 2010 at 10:27 AM, Christoph Niemann <address@hidden> wrote:

Hi Ana,

probably I can try to help you. I currently also use the same IMU with a TWOG. I'm currently integrating the stuff into the current version of Paparazzi (since our HB version is 10 months old) and cleaning it up a little bit. Perhaps you want to do some beta-testing? You can check out my current fork, have a look and try it: . There is a airframe using it: TWOG_chni or something like that. If you are expieriencing Problems, let me know so I can fix it.



Am 07.12.2010 11:11 schrieb "Ana García Álvarez" <address@hidden>:

I have recently purchased a 6dof razor imu. I have read about info in the hb branch, but hav...

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