Re: [Paparazzi-devel] xsens subsystem

[gatib]

The MTi-G is operating seamless for more than a year with the twog at
230400 Baud. The interface is a max232 chip. The problems started with the
upgrade to v3.9. I am very pleased for the support you provided and I'll
feedback as I can test the fixedwing_ins. (I need time to be more
familiarized with the git branch management functions.)

Balazs


> With a TWOG/Lisa-M, do not forget to put a high-speed (230kpbs) capable
> RS232 line driver in between. Yapa and Lisa-L have footprints ready for
> this.
>
> -Christophe
>
>
>
> On Wed, Jun 6, 2012 at 2:53 PM, Felix Ruess <address@hidden> wrote:
>
>> Hi Balazs,
>>
>> you can use/test the ins xsens subsystem which uses the MTi-G, so you
>> get
>> the full INS solution: attitude, velocity, position.
>> No other gps or ahrs subsystems needed in that case.
>>
>> I updated the comment on
>> https://github.com/paparazzi/paparazzi/pull/209in case that was not
>> clear...
>>
>> Cheers, Felix
>>
>>
>> On Wed, Jun 6, 2012 at 2:52 PM, <address@hidden> wrote:
>>
>>> Dear Felix,
>>>
>>> I started to investigate the fixedwing_ins branch. Unfortunately my
>>> Twog
>>> has got only two uart, thus it is unable to manage separated serial imu
>>> and GPS.
>>>
>>> I would ask you for your opinion on the possible future of the MTi-G in
>>> paparazzi. Will be the MTi-G as standalone imu/ins/gps/ahrs sensor in
>>> the
>>> scope of the development team in the future? Or is this device too far
>>> from the current activity of the active developers now? I know that you
>>> can't predict anything, I wonder only your opinion.
>>>
>>> Balazs
>>>
>>>
>>>
>>>
>>> > I started to clean this up a little, but don't have a xsens to test.
>>> > You can check out the fixedwing_ins branch to test this...
>>> > See https://github.com/paparazzi/paparazzi/pull/209
>>> >
>>> > On Mon, Jun 4, 2012 at 7:45 PM, <address@hidden> wrote:
>>> >
>>> >> Ok. This explains also, why I can't find the calling function.
>>> >> I expect, that this problem has more deeper roots, than I could
>>> >> contribute
>>> >> to solve it.
>>> >>
>>> >> Anyway thanks a lot for the support, and I hope the solution will be
>>> >> find
>>> >> in the near future. Until this I'll use an older version of
>>> paparazzi.
>>> >>
>>> >> Balazs
>>> >>
>>> >>
>>> >> > Ah... that sounds familiar. That problem occurred in the past too
>>> some
>>> >> > ahrs
>>> >> > / imu updates.
>>> >> >
>>> >> > In the past the module used its own periodic function, but since
>>> it
>>> >> became
>>> >> > a subsystem (in order to be able to simulate xsens planes which
>>> didnt
>>> >> work
>>> >> > in modules) the ins_periodic was hacked into imu_periodic. But
>>> this
>>> >> > probably got cleaned away again. There is still confusion as to
>>> who
>>> >> should
>>> >> > call it: imu_periodic, ahrs_periodic of ins_periodic. Since the
>>> xsens
>>> >> is
>>> >> > the first paparazzi-ins device this is not ready yet.
>>> >> >
>>> >> > -Christophe
>>> >> >
>>> >> >
>>>
>>>
>>>
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>>>
>>
>>
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