Re: [Paparazzi-devel] Barometre settings with Lisa/M

[Felix Ruess]

Hi Jorn,

I assume you are using the master branch (v5.1_devel_x)?

You currently still need to add <define name="USE_BAROMETER" value="TRUE"/> to actually use it in estimation with ins alt_float.

Maybe it would make more sense to enable this by "automatically" if USE_BARO_BOARD is true?

Regarding the AHRS, I would currently recommend to use/test int_cmpl_quat since that was improved for fixedwing usage now as well (and e.g. handles all orientations of the autopilot).

But I don't have any comparative data on a fixedwing.

Cheers, Felix

On Sat, Nov 16, 2013 at 11:19 PM, Jorn Anke <address@hidden> wrote:

Hi,

I have a Lisa/M 2.0 with an onboard aspirin. I would like to use the aspirin baro, since I believe this would grately improve the precision of vertical possition.

In my airframe-file, my firmware-settings looks like this:

<firmware      name = "fixedwing">
    <target      name = "ap"                       board = "lisa_m_2.0">
      <configure name = "LISA_M_BARO"              value = "BARO_MS5611_SPI"/>
      <configure name = "USE_BARO_BOARD"           value = "TRUE"/>
      <configure name = "PERIODIC_FREQUENCY"       value = "120"/>
      <configure name = "AHRS_PROPAGATE_FREQUENCY" value = "100"/>
      <configure name = "AHRS_CORRECT_FREQUENCY"   value = "100"/>
      <define    name = "AHRS_TRIGGERED_ATTITUDE_LOOP"/>
    </target>
    <target      name = "sim"              board = "pc"/>
    <define      name = "USE_MAGNETOMETER" value = "FALSE"/>
    <subsystem   name = "radio_control"    type  = "ppm"/>
    <subsystem   name = "telemetry"        type  = "transparent"/>
    <subsystem   name = "control"/>
    <subsystem   name = "imu"              type  = "aspirin_v2.1"/>
    <subsystem   name = "ahrs"             type  = "float_dcm"/>
    <subsystem   name = "gps"              type  = "ublox"/>
    <subsystem   name = "navigation"/>
    <subsystem   name = "ins"              type  = "alt_float"/>
  </firmware>

I am using latest master.

The Lisa/M has now been running for about an hour on my terrasse. Reported horisontal accuracy is about 2.5m most of the time. Vertical possition has however been drifting +- 10m, (which is what I would expect from the gps alone).

I therefore believe the baro is currently not involved in giving the vertical possition. So, my question is if need to change anything in my settings to have the baro working properly? (Couldn't find much on this on the wiki).



Btw; which AHRS subsystem would YOU have selected for a slow-flying/stable fixed-wing airframe intended for aerial photography?


Cheers,

Jørn

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