[Paparazzi-devel] Umarim IMU Issue

[Craig Smith]

Hey all,

I've got an Umarim lite v2 that I recently picked up, but the gyroscope seems to spaz out every now and then, throwing the AHRS off by quite a bit.  Anyone else having the same problem?

 

I've attached a plot of the gyros spazing out and a plot of theta and gp.  You can see that its physically not moving (accel_y is constant), but theta is changing due to the gyros. 

 

To me, it looks like a driver issue misreading a pcket, but I dunno, maybe a bad gyro...  I'm using the example Umarim airframe with the float_dcm ahrs...

 

any thoughts?

 

-- Craig

 

 

12_10_08__19_28_20_gyros.png
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12_10_08__19_28_20_theta.png
Description: PNG image