Re: [Paparazzi-devel] Aspirin IMU calibration

[Christoph Niemann]

Hi again,

on my LisaM the IMU is on the downside.

Cheers

Christoph

Am 27.01.2012 15:32 schrieb "Bruzzlee" <address@hidden>:

He all
thx 4 the answer

Stupid question to LisaM: Has the Aspirin to be upside or downside? ;-) The sign of the Z-Axis on the Aspirin shows a circle with a dot, so I was guessing that the IMU should be on top.

I managed to get my RAW datas by using the normal AP firmware and changing the telemetry mode in the GCS Settings to RAW.
I got some values out of the script. See attachment.


The PFD is still rotating.....

Terminal output:
./calibrate.py -i 1 -s ACCEL '/home/bruzzlee/Paparazzi/paparazzi_odonata/var/logs/12_01_27__15_14_37.data'
initial guess : avg 7.19678733577 std 2.2245311935
/usr/lib/python2.7/dist-packages/scipy/optimize/minpack.py:318: RuntimeWarning: Number of calls to function has reached maxfev = 1400.
 warnings.warn(errors[info][0], RuntimeWarning)
optimized guess : avg 9.80925677574 std 0.00967142874765

<define name="ACCEL_X_NEUTRAL" value="-935"/>
<define name="ACCEL_Y_NEUTRAL" value="-851"/>
<define name="ACCEL_Z_NEUTRAL" value="-267"/>
<define name="ACCEL_X_SENS" value="8.13419611628" integer="16"/>
<define name="ACCEL_Y_SENS" value="7.73102782993" integer="16"/>
<define name="ACCEL_Z_SENS" value="29.0050445772" integer="16"/>



On Fri Jan 27 14:58:08 2012, Christoph Niemann wrote:

Hi,

I got my File. But an idea: Perhaps the test program doesn't support
the xbee api? Or is it transparent? If it is using the api i would
suggest to connect directly to the UART.

Good luck

Christoph

2012/1/27 Bruzzlee <address@hidden <mailto:address@hidden>>

Hi all
Has anyone successfully created a Aspirin IMU calibration file
according to this tutorial?
http://paparazzi.enac.fr/wiki/__ImuCalibration
<http://paparazzi.enac.fr/wiki/ImuCalibration>

I've never received the calibration file from jobyrobotics so I
tried to create my own.

I tried "test_imu_aspirin" on lisa_m_1.0 board but then the Xbee
gets no data.

Any hint?

Thx Bruzzlee

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