Re: [Paparazzi-devel] Warning possible bug in "ins_arduimu.c"

[steve.joyce]

I think you are right, and it seems to be the same in the 
ins_osam_ugear code.
the proper way to do it is probably in the init() function:
ins_roll_neutral = RadOfDeg(INS_ROLL_NEUTRAL_DEFAULT);

and in the update functions use the estimator.h macros:

EstimatorSetAtt(phi, psi, theta) or EstimatorSetPhiPsi(phi, psi)
depending on whether you want to use the ins_psi or not.

One thing about the ArduIMU though is the boot/calibration sequence 
initializes it to level anyway making setting offsets in the airframe 
file questionable.

/Steve


On Fri, 18 Feb 2011 17:04:22 +0200, Chris <address@hidden> wrote:
> Hi.
> Today i gad another flight but as i tried to tune in the ArduIMU i
> found that the
> pitch and roll neutral default correction angles are in radians not 
> degrees.
>
> In the airframe file it says:
> <section name="INS" prefix="INS_">
> <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
> <define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
> </section>
> The units i think are not degrees but radians because in 
> "ins_arduimu.c:
>
> void ardu_update_state_ins( void ) {
>
>     estimator_phi  = ArduIMU_data[0]*0.01745329252 - 
> ins_roll_neutral;
>     estimator_theta  = ArduIMU_data[1]*0.01745329252 - 
> ins_pitch_neutral;
>     float psi = ArduIMU_data[2]*0.01745329252;
>
>     RunOnceEvery(50, DOWNLINK_SEND_AHRS_EULER(DefaultChannel,
> &estimator_phi, &estimator_theta, &psi));
> }
>
> Inside the "ins_arduimu.c" file the imu itself sends the pitch and
> roll angles in degrees,
> then the code converts them to radians by multiplying them with 
> 0.01745
> and finally it adds the neutrals which looks like they must be 
> radians.
> I think the above code should read:
> void ardu_update_state_ins( void ) {
>
>     estimator_phi  = ArduIMU_data[0]*0.01745329252 -
> RadOfDeg(ins_roll_neutral);
>     estimator_theta  = ArduIMU_data[1]*0.01745329252 -
> RadOfDeg(ins_pitch_neutral);
>     float psi = ArduIMU_data[2]*0.01745329252;
>
>     RunOnceEvery(50, DOWNLINK_SEND_AHRS_EULER(DefaultChannel,
> &estimator_phi, &estimator_theta, &psi));
> }
>
> Any ideas?
> Chris
>
>
>
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