[Paparazzi-devel] NPS Simulator: IMU Simulation

[Matthew Plymale]

So if I wanted to use this ins_vn100 module, which subsystem would it override, if any? Would I still need to include the imu, ins and ahrs subsystems in my aircraft configuration file? I ask because NPS demands the use of an IMU in its simulation (that provides the imu_feed_mag etc.) so could the VN100 module be used for simulation as well?

The second part of the equation is: if the VN-100 is better used as an AHRS than an IMU, would I no longer need to use the IMU interface (since the VN-100 would supposedly give me the exact yaw pitch roll values needed)?

Trying out the ins_vn100 module conflicts with the VN100 IMU subsystem I have written obviously, so one would have to take precedence.
> Hi Matthew,
>
> I'm not really familiar with the VN-100, just had a quick look and if I'm
> correct it is not an IMU but an AHRS.
> You apparently implemented it as an imu subsystem? So do you just get the
> calibrated and scaled values from the vn100 or do you read out the already
> estimated angles?
> If it is the latter, it should probably adhere to the ahrs interface and be
> an ahrs subsystem, if you read the sensor values it should be an imu
> subsystem.
>
> Now about the ins_vn100 module, I believed it is currently only used for
> fixedwings. Gautier knows more on this.
> This was created before we started merging rotorcraft support properly and
> should be renamed to ahrs_vn100 and also use the ahrs interface.
>
> There are currently some functions in fw_ins_v100.c to use it with
> fixedwings (update the soon to be deprecated estimator we still have).
> Hopefully we will have a proper state interface (position, attitude, etc.)
> and we can get rid of this.
> http://paparazzi.enac.fr/wiki/DevGuide/StateInterface
> Then we can use all IMUs, AHRS, INS things for fixedwings and rotorcrafts.
>
> Cheers, Felix