[Paparazzi-devel] master branch, recalibrate your mag if using aspirin v1.5

[Felix Ruess]

Hi,

I just fixed the magnetometer axes for the aspirin v1.5 driver in the master branch.

Seems like it was not correct before, although still working with proper calibration...

In any case, if you are using the aspirin_v1.5 or aspirin_v1.5_i2c imu driver, you need to recalibrate your magnetometer:

http://paparazzi.enac.fr/wiki/ImuCalibration#Calibrating_the_Magnetometer

Cheers, Felix

On Thu, Feb 21, 2013 at 2:45 PM, Eduardo lavratti <address@hidden> wrote:

For sure the old calibration now work.

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Date: Thu, 21 Feb 2013 14:32:34 +0100

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] master branch - magnetometer signal problem

Hm.. the calibration should actually stay the same, as this is applied to the data in imu coordinates...

On Thu, Feb 21, 2013 at 2:06 PM, Eduardo lavratti <address@hidden> wrote:

Hello Felix, i am not sure..
I am using the same calibration used with old drivers.
The problem start after i update my repo yesterday.

i will make the calibration again.

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Date: Thu, 21 Feb 2013 13:49:04 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] master branch - magnetometer signal problem

Hi Eduardo,

are you sure? For the aspirin_v1.5 driver with HMC5883? Which exact master version?

The HMC5883 has an order of xzy in the returned data, while the HMC5843 has xyz order.

This is now handled by the hmc58xx driver, so you get the data in the axes of the mag: sw/airborne/peripherals/hmc58xx.c line 143

For aspirin 1.5 the mag type is set to HMC5883 (default), for aspirin 1.0 to HMC5843.

The channel mapping is to switch axes if the accel/gyro/mag on the imu are mounted in different orientations, so that you get everything in final imu axes.

Just looked at it again, and to me it looks like I switched the Y and Z channels correctly after using the hmc58xx driver for the mag on aspirin.

Would be cool if you could double-check...

Cheers, Felix

On Thu, Feb 21, 2013 at 12:05 PM, Eduardo lavratti <address@hidden> wrote:

Felix, i found a problem in aspirin driver (master branch)

look @file subsystems/imu/imu_aspirin_defaults.h
The correct mag signals are:
#define IMU_MAG_X_CHAN  2
#define IMU_MAG_Y_CHAN  0
#define IMU_MAG_Z_CHAN  1

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