Hi,
The vn100 module is build with a generic part to parse the messages
coming from the spi and a specific part that makes the proper
initialization and update the estimator interface. For the specific
part, only the fixedwing part has been done (unless someone did it
?). This module has been done before the new ahrs interface, so it
could probably be moved/rename somewhere else.
For your simulation, NPS is suppose to be a rotorcraft simulator
(for now). What kind of airframe do you have?
Gautier
On 02/02/2011 04:29, Matthew Plymale wrote:
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
_______________________________________________
Paparazzi-devel mailing list
address@hidden
http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
|