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Re: [Paparazzi-devel] Drotek imu calibration problem
From: |
Chris |
Subject: |
Re: [Paparazzi-devel] Drotek imu calibration problem |
Date: |
Sun, 07 Apr 2013 20:08:47 +0300 |
User-agent: |
Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130308 Thunderbird/17.0.4 |
Hi.
Here is the the relevant section of the airframe file (my airframe is
rather long)
<firmware name="fixedwing">
<target name="ap" board="twog_1.0"/>
<target name="sim" board="pc"/>
<define name="USE_LED_1"/>
<define name="USE_LED_2"/>
<define name="USE_LED_3"/>
<define name="USE_LED_4"/>
<define name="AGR_CLIMB"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="STRONG_WIND"/>
<define name="ALT_KALMAN"/>
<define name="USE_I2C0"/>
<define name="SENSOR_SYNC_SEND"/>
<define name="USE_AIRSPEED"/>
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B38400"/>
</subsystem>
<subsystem name="control" type="energy"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="navigation" />
<subsystem name="imu" type="aspirin2_i2c">
<define name="MPU60X0_ADDR" value="MPU60X0_ADDR_ALT" />
<define name="USE_I2C"/>
<define name="USE_I2C0"/>
</subsystem>
<subsystem name="ahrs" type="float_dcm"/>
<configure name="USE_MAGNETOMETER" value="0"/>
<configure name="SYS_TIME_LED" value="1"/>
<configure name="GPS_LED" value="2"/>
</firmware>
<modules>
<load name="baro_ms5611_i2c.xml"> <!-- this is for the DROTEK IMU -->
<define name="MS5611_SLAVE_ADDR=0xEE"/>
<define name="SENSOR_SYNC_SEND"/>
</load>
<load name="nav_catapult.xml"/>
<load name="parachute.xml"/>
<load name="airspeed_adc_7002.xml"/>
<load name="chdk.xml"/>
<!--Turnigy 180 degree analog servo can do 270 degrees rotation -->
<load name="my_cam_v3_3_yaw_pitch_nose_270.xml"/>
<load name="airborne_ant_track.xml"/>
<!-- <load name="my_baro_bmp.xml"/> -->
<!-- <load name="gps_ubx_ucenter.xml"/> -->
</modules>
<section name="IMU" prefix="IMU_">
<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec
/ 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<!-- Found with calibrate.py script -->
<define name="ACCEL_X_NEUTRAL" value="61"/>
<define name="ACCEL_Y_NEUTRAL" value="6"/>
<define name="ACCEL_Z_NEUTRAL" value="-67"/>
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit
FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
ALSO YOU NEED TO EDIT FILE
"~/paparazzi/sw/airborne/peripherals/mpu60X0.h" and replace
the line (#5 i think) with "#define MPU60X0_ADDR 0xD0" with:
#ifndef MPU60X0_ADDR
#define MPU60X0_ADDR 0xD0
#else
#warning USER SET MPU60X0 I2C Address
#endif
in order to be able to set the I2C address from the airframe or elsewhere.
Chris
On 04/07/2013 07:00 PM, address@hidden wrote:
Hi Chris,
would you please post your all your airframe configuration ?
I am using same IMU and I want to compare
Thanks
Imed LIMAIEM
address@hidden
- [Paparazzi-devel] Drotek imu calibration problem, Chris, 2013/04/04
- Re: [Paparazzi-devel] Drotek imu calibration problem, Tobias, 2013/04/06
- Re: [Paparazzi-devel] Drotek imu calibration problem,
Chris <=
- Re: [Paparazzi-devel] Drotek imu calibration problem, Tobias, 2013/04/08
- Re: [Paparazzi-devel] Drotek imu calibration problem, Chris, 2013/04/09
- Re: [Paparazzi-devel] Drotek imu calibration problem, Chris, 2013/04/10
- Re: [Paparazzi-devel] Drotek imu calibration problem, Chris, 2013/04/10
- Re: [Paparazzi-devel] Drotek imu calibration problem, Chris, 2013/04/10