[Paparazzi-devel] CHIMU Questions

[GalapagosUAV]

Dear all,

I have a few questions about how to use the CHIMU and some changes that were made from the Paparazzi versions 4.2 to 5.0.

Paparazzi v4.2:

- How can I activate the AHRS of my CHIMU?

- When I YAW my CHIMU I don't get any response from the Rudder because it seems like I don't have this control activated. How can I activate this?

- Do I need to define a Subsystem/ahrs? 

• int_cmpl_quat
• float_cmpl
• float_dcm
• int_cmpl_euler
• infrared

Paparazzi v5.0:

- I see that the ins_chimu_spi.xml file was replaced by ahrs_chimu_spi.xml. When I Build my airframe file using this new module I get the following errors:

...undefined reference to 'ins_periodic'

...undefined reference to 'ins_update_gps'

...paparazzi/var/Piquero/ap/ap.elf

...[ap.compile] Error 2

- How should be my configuration to use my CHIMU on v5.0?

Best Regards,

Jorge