[Paparazzi-devel] Airspeed

[Jesus Martin Sanchez]

Hello:

  I updated the paparazzi files yesterday, because I had some trouble with the Chimu IMU. I confirm that I only have this problem when I add the followings lines,  that is the differece with the other code (Uav with CHimu imu without airspeed).

      <define name="USE_I2C0"/><!--RESPI ADD--

      <define name="USE_AIRSPEED"/><!--RESPI ADD AIRSPEED-->

      <define name="SENSOR_SYNC_SEND"/><!--RESPI ADD AIRSPEED-->

    

   <subsystem name="i2c"> 

    </subsystem>

   <subsystem name="spi_slave_hs">

    </subsystem>

 

  </load>

  <!--AIRSPEED ADD-->

    <load name="airspeed_ets.xml">

       <define name="AIRSPEED_ETS_SCALE"   value="1.8"/>

       <define name="AIRSPEED_ETS_OFFSET"  value="4"/>

       <define name="AIRSPEED_ETS_I2C_DEV" value="i2c0"/>

    </load>

    

    <!-- auto airspeed and altitude inner loop --><!--RESPI ADD-->

    

     <define name="AUTO_AIRSPEED_SETPOINT" value="8.0" unit="m/s"/> <!--Era 14.5-->

     <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>

     <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>

     <define name="AUTO_GROUNDSPEED_SETPOINT" value="5.0" unit="m/s"/><!--Era 6-->

     <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>

     <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>

  </section>

Thanks a lot

 Jesus