Re: [Paparazzi-devel] Aspirin and Tiny or Twog for fixedwing

[Christophe De Wagter]

We fly several planes with this setup. It is our second-best combination for airplanes at the moment (after the yapa + xsens).

Here is a sample airframe (that seems to have the missing signs) and has datasheet default calibrations for the 1.5 version of the aspirin.

https://github.com/tudelft/paparazzi/blob/master/conf/airframes/TU_Delft/skywalkerfiber.xml

-Christophe 

On Fri, Feb 17, 2012 at 8:21 AM, Cédric Marzer <address@hidden> wrote:

Hi all,

I am trying to use an Aspirin (v1.5) IMU with a twog board on a fixedwing. There is some information about this combination on the mailing list and on the wiki but nothing really clear. After reading it all, I am still not 100% sure that this combination can work. So my first question is : does someone fly already with this setup ?

 

From what I understand one has to connect the board through i2c only like that :

aspirin-SCK / aspirin-SCL / twog-SCL

aspirin-mosi / aspirin-SDA / twog -SDA

aspirin-gnd / aspirin-miso / twog - gnd

aspirin - CS / twog - 3.3V

aspirin - 5V ideally to a 5 V linear regulator but it is also possible to connect it to the 3.3 V with no guarantee

 

on the software side :

 

in the airframe code :

 

<subsystem name="imu" type="aspirin_i2c"/>
<subsystem name="ahrs" type="float_dcm"/>

<section name="IMU" prefix="IMU_">

 

    <define name="GYRO_P_NEUTRAL" value="74"/>

    <define name="GYRO_Q_NEUTRAL" value="-39"/>

    <define name="GYRO_R_NEUTRAL" value="-60"/>

    <define name="GYRO_P_SENS" value="4.412" integer="16"/>

    <define name="GYRO_Q_SENS" value="4.412" integer="16"/>

    <define name="GYRO_R_SENS" value="4.412" integer="16"/>

    <define name="GYRO_PQ_SENS" value="0.0" integer="16"/>

    <define name="GYRO_PR_SENS" value="0.0" integer="16"/>

    <define name="GYRO_QR_SENS" value="0.0" integer="16"/>

   

    <define name="ACCEL_X_NEUTRAL" value="12"/>

    <define name="ACCEL_Y_NEUTRAL" value="1"/>

    <define name="ACCEL_Z_NEUTRAL" value="-13"/>

    <define name="ACCEL_X_SENS" value="37.3730252947" integer="16"/>

    <define name="ACCEL_Y_SENS" value="38.1837066302" integer="16"/>

    <define name="ACCEL_Z_SENS" value="39.169675633" integer="16"/>

    <define name="ACCEL_XY_SENS" value="0.0" integer="16"/>

    <define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>

    <define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>

   

    <define name="MAG_X_NEUTRAL" value="-45"/>

    <define name="MAG_Y_NEUTRAL" value="35"/>

    <define name="MAG_Z_NEUTRAL" value="-89"/>

    <define name="MAG_X_SENS" value="3.8038091533" integer="16"/>

    <define name="MAG_Y_SENS" value="3.99631626658" integer="16"/>

    <define name="MAG_Z_SENS" value="3.7728752292" integer="16"/>

    <define name="MAG_XY_SENS" value="0.0" integer="16"/>

    <define name="MAG_XZ_SENS" value="0.0" integer="16"/>

    <define name="MAG_YZ_SENS" value="0.0" integer="16"/>

 

  </section>

Now my problem is that when I compile I get the following values not being defined :

 

IMU_GYRO_P_SIGN

IMU_GYRO_R_SIGN

IMU_GYRO_Q_SIGN

IMU_GYRO_X_SIGN

IMU_GYRO_Y_SIGN

IMU_GYRO_Z_SIGN

 

Is it a problem of dev/current version of paparazzi (I am using the current one) ? Am I missing a step ?

Thank you for your help

Cédric

 

 

 

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