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Re: [Paparazzi-devel] razor imu

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] razor imu
Date: Fri, 10 Dec 2010 08:29:18 +0100

Tiny upgrade:

the centrifugal acceleration was already in the DCM code. It's just still needs cleaning up. (conversions etc)


On Fri, Dec 10, 2010 at 2:07 AM, Felix Ruess <address@hidden> wrote:
Hi guys,

I refactored the code further and moved the actual estimation (dcm) to
This is not merged into master yet, it is currently in the analogimu
branch in the paparazzi repo.
Changes so far:
- better separation of the imu<->ahrs parts
- use calibration data from airframe file for imu (scaling and
neutrals), not so nice to set the accel neutrals at startup
- use ahrs_aligner to get the gyro bias on startup
- use more already available paparazzi algebra makros
Todo (in progress):
- more cleanup
- use magnetometer
- use GPS to compensate for centrifugal acceleration
- also set other attitude representations in the ahrs interface
(quaternions, dcm) only eulers set there so far

Then of course we want to refactor estimator and create a more general
state interface that can be used for rotorcrafts and fixedwings.

Cheers, Felix

On Thu, Dec 9, 2010 at 6:26 PM, Christophe De Wagter <address@hidden> wrote:
> 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
> Sincerely,
> -Christophe
> 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.
>> Cheers
>> Christoph
>> Am 07.12.2010 11:11 schrieb "Ana García Álvarez" <address@hidden>:
>> Hello,
>> I have recently purchased a 6dof razor imu. I have read about info in the
>> hb branch, but hav...
>> _______________________________________________
>> Paparazzi-devel mailing list
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>> Paparazzi-devel mailing list
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