Re: [Paparazzi-devel] YNT: Rotate reference frame - Lisa/M 2.0 Aspirin 2.2 - mounting the IMU correctly

[Markus Bina]

Hi Refik,

Just three lines? That's really great! :-)
Thanks!

Cheers,
  Markus

Am 09.09.2013 22:18, schrieb Refik Sever:
> Hi Markus,
>
> You can edit these parameters:
>
> <section name="IMU" prefix="IMU_">
>      <define name="BODY_TO_IMU_PHI"   value="-0.93" unit="deg"/>
>      <define name="BODY_TO_IMU_THETA" value="10.71" unit="deg"/>
>      <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
>    </section>
>
> Then, check the PFD screen.
> Refik
>
> ________________________________________
> Kimden: Markus Bina address@hidden adına address@hidden address@hidden
> Gönderildi: 09 Eylül 2013 Pazartesi 23:11
> Kime: address@hidden
> Konu: [Paparazzi-devel] Rotate reference frame - Lisa/M 2.0 Aspirin 2.2 - 
> mounting the IMU correctly
>
> Hi all.
>
> A few days ago I finished assembling all the hardware for my first
> "fixed wing"-configuration.
> Since I'm still a RC/Paparazzi beginner I figured to start by using the
> "Bixler"-airframe, which I can fly reasonably well without any
> autopilot, for my first setup.
>
> Basically, I would like to mount the autopilot (Lisa/M) with the long
> side parallel to the fuselage, i.e. not like this
> http://paparazzi.enac.fr/wiki/File:Bixler_Cockpit.jpg.
> Thus I'd not have to make any permanent changes to my airframe (the
> autopilot sits on a piece of acrylic (PMMA) in the CM fixed by velcro;
> thus removeable)
> and there wouldn't be any wires hanging out of the fuselage.
> This would - imho - also ease the wiring.
>
> How do I rotate the IMU/Autopilot reference frame in the airframe
> configuration (XML) consistently for/in all subsystems
> (imu,ahrs,controller,etc.)?
> To mount the Lisa/M board with its long side parallel to the fuselage I
> figured, one needs to swap X and Y axis and invert the Y axis.
>
> Hardware:
> *) Airframe: Bixler  - http://paparazzi.enac.fr/wiki/Bixler
> *) Board: Lisa/M v2.0 with Aspirin v2.2 from Transition Robotics
> *) GPS: ublox
> *) Telemetry: xbee
> *) Radio: Spektrum (9645)
>
> Sorry, in case my question is somewhat basic.
>
> Thanks.
>
> Cheers,
>       Markus
>
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