Hi Felx,
I use v5.1_devel
Attach test video (note the last two posture recovery is
slow)
http://v.youku.com/v_show/id_XNjMxMDI0MDAw.html
Airframe Configuration
<airframe name="Apogee">
<modules>
<load name="mcp355x.xml">
<define name="USE_SPI1"/>
</load>
</modules>
<firmware name="fixedwing">
<define name="USE_I2C1"/>
<define name="USE_I2C2"/>
<define name="ALT_KALMAN"/>
<define name="USE_GYRO_PITCH_RATE"/>
<target name="sim" board="pc"/>
<target name="ap" board="apogee_1.0"/>
<subsystem type="ppm" name="radio_control"/>
<subsystem type="transparent" name="telemetry"/>
<subsystem type="apogee" name="imu"/>
<subsystem type="float_dcm" name="ahrs"/>
<subsystem type="alt_float" name="ins"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
<subsystem type="ublox" name="gps"/>
<subsystem name="spi_master"/>
</firmware>
<section prefix="IMU_" name="IMU">
<define value="-68" name="ACCEL_X_NEUTRAL"/>
<define value="-1" name="ACCEL_Y_NEUTRAL"/>
<define value="-64" name="ACCEL_Z_NEUTRAL"/>
<define value="2.46053275899" name="ACCEL_X_SENS"
integer="16"/>
<define value="2.45567151099" name="ACCEL_Y_SENS"
integer="16"/>
<define value="2.44223710019" name="ACCEL_Z_SENS"
integer="16"/>
<define value="0" name="GYRO_P_NEUTRAL"/>
<define value="0" name="GYRO_Q_NEUTRAL"/>
<define value="0" name="GYRO_R_NEUTRAL"/>
<define value="3.0590" name="GYRO_P_SENS"
integer="16"/>
<define value="3.0590" name="GYRO_Q_SENS"
integer="16"/>
<define value="3.0590" name="GYRO_R_SENS"
integer="16"/>
<define value="0" name="BODY_TO_IMU_PHI"/>
<define value="0" name="BODY_TO_IMU_THETA"/>
<define value="-90." unit="deg"
name="BODY_TO_IMU_PSI"/>
</section>
dianzhichong
--------------------------------------------------------------------------------------------------------------------------------
Hi,
with questions like this please always try to be as
specific as possible.
Which paparazzi_version are you running? What AHRS
algorithm are you using? How is your IMU set up?
Best is to provide the airframe file you are using (or at
least the relevant sections).
Cheers, Felx