Re: [Paparazzi-devel] New IMU in YAPA

[Hector Garcia de Marina]

Hi Mauro,

I have a long experience with the ADIS16405.

In my opinion for the control loops without taking into account a physical model of the plane. The performance is not so big compared with other imus such as MPU6000.

The estimators based on complementary filters or Kalman are far enough for a nice estimation of biases for the gyros. In fact the performance of the accelerometers is quite nice for small airplanes.

I can not speak for other applications. But for small fixed wings. I really have to say that I have not found any differences.

On 16 Feb 2013 15:56, "Mauro Garcia Acero" <address@hidden> wrote:

Hello everyone,

 

After some discussion with TU Delft people, I will try to integrate the new ADIS16488 from Analog Devices into the YAPA in order to verify the behavior of paparazzi with a high end MEMS IMU:

 

<From the AD site>

6°/hr in-run bias stability

0.3°/√hr angular random walk

0.01% nonlinearity

 

Because this IMU communicates through SPI port, do you have any suggestion about how could I go quicker in the development of the new module? I was thinking to reuse one existing IMU module already communicating through SPI. But I have just begun to analyze the doc of the web site, so, I'm open to any kind of possibility.

 

Thanks in advance,

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