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Re: [Paparazzi-devel] Umarim lite 2.0 gyro going crazy

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Umarim lite 2.0 gyro going crazy
Date: Sat, 02 Mar 2013 10:51:08 +0100
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130221 Thunderbird/17.0.3


These values are really strange. A software issue is pretty difficult to imagine when looking at IMU_RAW data, except if it is directly related to the I2C driver and a bad transaction is unlikely to produce this kind of error. By any chance, do you have a logical analyzer to look at the data coming out of the sensor ? A still possible that it has been damage during mounting or because of a shock.


Le 02/03/2013 00:47, Joseph Muhlhausen a écrit :

I tried for a few hours yesterday and still no luck. It is not perfectly reproducible but if I wait long enough the gyro will start acting crazy. (Attached is a plot of the three gyro axis with the board steady on a table)

I have also tried the original Umarim Lite firmware with no luck.

I am starting to think that it's an hardware problem. Is there anyway to know if it's hardware or software related?

I am using v4.2 and my config file is based off the umarim_lite_v2.xml


Date: Wed, 27 Feb 2013 17:34:24 -0500
From: Joseph Muhlhausen <address@hidden>
To: address@hidden
Subject: [Paparazzi-devel] Umarim lite 2.0 gyro going crazy
Content-Type: text/plain; charset="iso-8859-1"

Hello everyone,

I was happy to have fixed my interference issue,  but when I got home and
wanted to do some tests, the servos started acting crazy in AUTO 1 mode. I
looked at the PFD and it just goes in every direction very quickly.  I
tried the different ahrs but it didn't really help.

I looked at the raw data, the accelerometer seemed fine. The gyroscope on
the other hand had values between 0 to 10000 while still.

Rotating the board 90, 180, -90, -180 as well as waiting steady for the
gyro to align helped a lot. However when letting the plane still for a long
time I can still see the gyro going off once in a while. I am afraid it'll
do the same in flight.

I saw that Luke had a similar issue but on a stm32 system:

I would like to try the same solution but I am not sure which function to
use on LPC21/umarim

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