Re: [Paparazzi-devel] Issue with Body_to_Imu and DCM

[Jochen Rieger]

Thanks for answer.
I have a fixed wing, it is recommended to use DCM. Should i use int_cmpl_quat on fixed wing or better turn the IMU?

Regards.
-Jochen

2012/2/15 Felix Ruess <address@hidden>

Hi Jochen,

what AHRS algo are you referring to?

http://paparazzi.enac.fr/wiki/Subsystem/ahrs has the current status

So if you are on the dev branch, you are fine using int_cmpl_quat, it will deal with all BODY_TO_IMU rotations correctly.

float_dcm does not handle this correctly, patches are welcome! 

But due to limited time, I'm not going to fix that one. I would recommend to use int_cmpl_quat anyway.

Cheers, Felix

On Wed, Feb 15, 2012 at 9:44 AM, Jochen Rieger <address@hidden> wrote:

Hello, in my airframe, i need to turn the board on the z axis.

I set the angle in the airframe file to:

     <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 0. )"/>
    <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 90. )"/>

It is possible that i will have problems?
Because in the wiki there are problems with Body_to_imu and the AHRS.

Also the USE_MAGNETOMETER is not tested, current status?




Thanks for informations.

Regards.
-Jochen

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