Re: [Paparazzi-devel] YNT: YNT: Umarim IMU Issue

[Iman]

Hello Felix & Refik

I still have problem with my UMARIM IMU, I have 2 package of that and they
have same problem (very slow movement in PFD tab and servo ) so I think
there is an issue in my airframe file. I attached my airframe file , Is
there any one test/check it for me?

<!DOCTYPE airframe SYSTEM &quot;../airframe.dtd&quot;>



<airframe name="umarim_iman">

  <firmware name="fixedwing">

    <define name="USE_I2C0"/>
    <define name="USE_I2C1"/>
    <define name="AGR_CLIMB" />

    <target name="ap"                   board="umarim_lite_2.0"/>
    <target name="sim"                  board="pc"/>

    <subsystem name="radio_control" type="ppm"/>

    
    <subsystem name="telemetry" type="transparent"/>

    
    <subsystem name="imu"     type="umarim"/>
    <subsystem name="ahrs"    type="float_dcm"/>
    <subsystem name="control"/>
    <subsystem name="navigation"/>

    
    <subsystem name="gps" type="ublox"/>
    <subsystem name="ins" type="alt_float"/>

  </firmware>

  
  <servos>
    <servo name="THROTTLE"      no="0" min="1100" neutral="1100"
max="1900"/>
    <servo name="ELEVATOR"      no="1" min="1100" neutral="1500"
max="1900"/>
    <servo name="RUDDER"        no="2" min="1100"  neutral="1500"
max="1900"/>
    <servo name="AILERON"       no="3" min="1100" neutral="1500"
max="1900"/>
  </servos> 

  <commands>
    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL"     failsafe_value="0"/>
    <axis name="PITCH"    failsafe_value="0"/>
    <axis name="YAW"      failsafe_value="0"/>
  </commands>

  <rc_commands>
    <set command="ROLL"      value="@ROLL"/>
    <set command="PITCH"     value="@PITCH"/>
    <set command="THROTTLE"  value="@THROTTLE"/>
    <set command="YAW"       value="@YAW"/>
  </rc_commands>


  <command_laws>
    <set servo="THROTTLE"    value="@THROTTLE"/>
    <set servo="ELEVATOR"    value="@PITCH"/>
    <set servo="RUDDER"      value="@YAW"/>
    <set servo="AILERON"     value="@ROLL"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="35" unit="deg"/>
    <define name="MAX_PITCH" value="30" unit="deg"/>
  </section>

  <section name="IMU" prefix="IMU_">
    
    <define name="GYRO_P_NEUTRAL" value="-15"/>
    <define name="GYRO_Q_NEUTRAL" value="94"/>
    <define name="GYRO_R_NEUTRAL" value="-7"/>

    
    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
    <define name="GYRO_R_SENS" value="4.97312" integer="16"/>

    <define name="ACCEL_X_NEUTRAL" value="0"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>

    
    <define name="ACCEL_X_SENS" value="31.9488" integer="10"/>
    <define name="ACCEL_Y_SENS" value="31.9488" integer="10"/>
    <define name="ACCEL_Z_SENS" value="31.9488" integer="10"/>

    
    <define name="MAG_X_NEUTRAL" value="0"/>
    <define name="MAG_Y_NEUTRAL" value="0"/>
    <define name="MAG_Z_NEUTRAL" value="0"/>

    <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>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT"  value="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="23000."/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="6.5" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="6.9" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="7" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
  </section>


  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
    
    <define name="ALTITUDE_PGAIN" value="0.03"/>
    
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.0"/>
    <define name="COURSE_DGAIN" value="0.3"/>

    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

    <define name="PITCH_PGAIN" value="12000."/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="1250"/>

    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
    <define name="ROLL_RATE_GAIN" value="1500"/>
  </section>

  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="20"/>
    <define name="BLEND_END" value="10"/>
    <define name="CLIMB_THROTTLE" value="1.00"/>
    <define name="CLIMB_PITCH" value="0.3"/>
    <define name="DESCENT_THROTTLE" value="0.1"/>
    <define name="DESCENT_PITCH" value="-0.25"/>
    <define name="CLIMB_NAV_RATIO" value="0.8"/>
    <define name="DESCENT_NAV_RATIO" value="1.0"/>
  </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </section>

</airframe>



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