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Re: [Paparazzi-devel] Drotek imu calibration problem

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Drotek imu calibration problem
Date: Wed, 10 Apr 2013 20:03:05 +0200


as the warning should tell you it is probably not a good idea to use both AHRS_USE_GPS_HEADING and USE_MAGNETOMETER=1.
There is estimation of mag offset wrt. gps course. So either use gps course for heading or the mag.

Also as says, USE_AHRS_GPS_ACCELERATIONS is only an option for float_dcm.

Cheers, Felix

On Wed, Apr 10, 2013 at 6:42 PM, Chris <address@hidden> wrote:
Felix and anyone else who might know, i have one last question...
What ahrs subsystem is better for a fixed wing with bungee take off?
I used the float_dcm with 5g take off acceleration and it worked fine everytime so it a safe bet
but i  would like to try something new like "float_cmpl_rmat" also.
On the ground i tested
       <subsystem name="ahrs" type="float_cmpl_rmat">
           <define name="AHRS_USE_GPS_HEADING"/>
           <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
           <define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC"/>
       <define name="USE_AHRS_GPS_ACCELERATIONS"/>
        <configure name="USE_MAGNETOMETER" value="1"/>

and it works very well especially the magnetometer.
The magnetometer looks very precise (i have calibrated it and set the local magnetic field coefficients) when compared with a big navy compass and it does not jitter so i can't imagine why i should not use it.
Is the float_cmpl_rmat code able to fuse both gps and magnetometer heading?
Also is the "USE_AHRS_GPS_ACCELERATIONS" definition active (used) regardless of the AHRS subsystem used?
Thank you again for your help and time.


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