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[Paparazzi-devel] Drotek IMU Mag Calibration

From: martinvk
Subject: [Paparazzi-devel] Drotek IMU Mag Calibration
Date: Fri, 17 Jan 2014 05:53:43 -0800 (PST) 
Hello,

i have a problem with the drotek IMU 10 DOF V2. The Compass is 180 deg
rotated if the TwinStar don't move. If i put the TwinStar in my car and
drive some kilometers, is the direction right. 

I calibrated the mag and the accell with the phyton script. 

Have anyone an idea? Fly anyone with the drotek a fixedwing? Can i disable
the compass and use the gps direction? 

At the screenshot, the TwinStar is at the real north direction.

Twog + Drotek IMU 10 DOF V2 + GPS ublox LEA-6H

This is my airframe file: 


<airframe name="Twinstar">
 
<servos>
    <servo name="THROTTLE"      no="2"  min="1000" neutral="1500" max="2000"/>
    <servo name="ROLL"          no="6"  min="2000" neutral="1500" max="1000"/>
    <servo name="PITCH"         no="7"  min="2000" neutral="1500" max="1000"/>
    <servo name="YAW"           no="3"  min="1000" neutral="1600" max="2000"/>
    <servo name="SHUTTER"       no="0"  min="1000" neutral="1500" max="2000"/>
  </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"/>
    <axis name="SHUTTER"        failsafe_value="0"/>
  </commands>

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

  <auto_rc_commands>
    <set command="YAW"          value="@YAW"/>
    <set command="SHUTTER"      value="@SHUTTER"/>      
  </auto_rc_commands>

 <command_laws>
    <set servo="THROTTLE"       value="@THROTTLE"/>
    <set servo="PITCH"          value="@PITCH"/>
    <set servo="ROLL"           value="@ROLL"/>
    <set servo="YAW"                    value="@YAW + @ROLL"/>
    <set servo="SHUTTER"                value="@SHUTTER"/>
  </command_laws>



  <section name="IMU" prefix="IMU_">
    <define name="GYRO_P_SIGN"          value="1"/>
    <define name="GYRO_Q_SIGN"          value="1"/>
    <define name="GYRO_R_SIGN"          value="1"/>

    <define name="ACCEL_X_SIGN"         value="1"/>
    <define name="ACCEL_Y_SIGN"         value="1"/>
    <define name="ACCEL_Z_SIGN"         value="1"/>

    <define name="MAG_X_SIGN"           value="1"/>
    <define name="MAG_Y_SIGN"           value="1"/>
    <define name="MAG_Z_SIGN"           value="1"/>

   
    <define name="BODY_TO_IMU_PHI"      value="0" unit="deg"/>
    <define name="BODY_TO_IMU_THETA"    value="0" unit="deg"/>
    <define name="BODY_TO_IMU_PSI"      value="0" unit="deg"/>



    <define name="GYRO_P_SENS"          value="4.359" integer="16"/>
    <define name="GYRO_Q_SENS"          value="4.359" integer="16"/>
    <define name="GYRO_R_SENS"          value="4.359" integer="16"/>

    <define name="GYRO_P_Q" value="0."/>
    <define name="GYRO_P_R" value="0."/>
    <define name="GYRO_Q_P" value="0."/>
    <define name="GYRO_Q_R" value="0."/>
    <define name="GYRO_R_P" value="0."/>
    <define name="GYRO_R_Q" value="0."/>




<define name="ACCEL_X_NEUTRAL"          value="-15"/>
<define name="ACCEL_Y_NEUTRAL"          value="-16"/>
<define name="ACCEL_Z_NEUTRAL"          value="141"/>
<define name="ACCEL_X_SENS"             value="2.4351646612"    integer="16"/>
<define name="ACCEL_Y_SENS"             value="2.44699755234"   integer="16"/>
<define name="ACCEL_Z_SENS"             value="2.43903563632"   integer="16"/>





    


<define name="MAG_X_NEUTRAL" value="-15"/>
<define name="MAG_Y_NEUTRAL" value="-108"/>
<define name="MAG_Z_NEUTRAL" value="70"/>
<define name="MAG_X_SENS" value="3.44102829054" integer="16"/>
<define name="MAG_Y_SENS" value="3.52307814128" integer="16"/>
<define name="MAG_Z_SENS" value="4.09478781776" integer="16"/>

  </section>


  

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT"         value="0.337987803734" 
unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT"        value="2.8199836793"    
unit="deg"/>
  </section>
 
<section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL"     value="60" unit="deg"/>
    <define name="MAX_PITCH"    value="40" unit="deg"/>
  </section>

  
  <section name="BAT">
   <define name="MILLIAMP_AT_FULL_THROTTLE"     value="20000" unit="mA"/>
   <define name="VOLTAGE_ADC_A"                                
value="0.02456533604651162791"/>
   <define name="VOLTAGE_ADC_B"                                
value="0.24024993023255813953"/>
   <define name="VoltageOfAdc(adc)"                     value="(VOLTAGE_ADC_A * 
adc +
VOLTAGE_ADC_B)"/>
   <define name="CATASTROPHIC_BAT_LEVEL"        value="9.0" unit="V"/>
   <define name="CRITIC_BAT_LEVEL"              value="9.3" unit="V"/>
   <define name="LOW_BAT_LEVEL"                         value="9.5" unit="V"/>
   <define name="MAX_BAT_LEVEL"                         value="12.4" unit="V"/>
  </section>

  <section name="SIMU">
    <define name="YAW_RESPONSE_FACTOR" value="0.7"/>
  </section>

  <section name="MISC">
    <define name="TELEMETRY_MODE_FBW"           value="1"/>
    <define name="NOMINAL_AIRSPEED"                     value="12.5" 
unit="m/s"/>
    <define name="CARROT"                                       value="5." 
unit="s"/>
    <define name="KILL_MODE_DISTANCE"                  
value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY"                    value="60" unit="Hz"/>
    <define name="ALT_KALMAN_ENABLED"           value="TRUE"/>
    <define name="TRIGGER_DELAY"                                value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS"                value="50."/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">

    <define name="POWER_CTL_BAT_NOMINAL"        value="11.1" unit="volt"/>
    
    <define name="ALTITUDE_PGAIN"                       value="0.07"/>
    
    <define name="ALTITUDE_MAX_CLIMB"           value="2."/>

    
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"        value="0.55"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE"            value="0.30"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE"            value="0.80"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM"                            
value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM"                              
value="-500"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"       value="0.15"
unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN"                                  
value="0.025"/>
    <define name="AUTO_THROTTLE_IGAIN"                                  
value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"                      
value="0.05"/>

    
    <define name="AUTO_PITCH_PGAIN"                             value="0.05"/>
    <define name="AUTO_PITCH_IGAIN"                             value="0.075"/>
    <define name="AUTO_PITCH_MAX_PITCH"                         value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH"                         value="-0.35"/>

   <define name="THROTTLE_SLEW"                                         
value="0.05"/>

  </section>

  <section name="HORIZONTAL CONTROL"                            prefix="H_CTL_">
    <define name="COURSE_PGAIN"                                         
value="0.85"/>
    <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="ROLL_PGAIN"                                   value="5000."/>
    <define name="AILERON_OF_THROTTLE"                  value="0.0"/>
    <define name="PITCH_PGAIN"                                  value="4000."/>
    <define name="PITCH_DGAIN"                                  value="1.5"/>
    <define name="ELEVATOR_OF_ROLL"                             value="1250"/>

  </section>

  <section name="NAV">
    <define name="NAV_GLIDE_PITCH_TRIM"                         value="0"/>
  </section>





  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START"          value="20"/>
    <define name="BLEND_END"                   value="10"/>
    <define name="CLIMB_THROTTLE"       value="0.8"/>
    <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="1" 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>




        <firmware name="fixedwing">
        <target name="sim" board="pc"/>
        <target name="ap" board="twog_1.0">
        <define name="AGR_CLIMB"/>

        <define name="USE_I2C"/>
        <define name="USE_I2C0"/>
        <define name="SENSOR_SYNC_SEND"/>
        <define name="USE_BARO_MS5611"/> 

        </target>

        <define name="LOITER_TRIM"/>

        <subsystem name="ahrs" type="float_dcm"/>
        <subsystem name="gps" type="ublox"/>
        <subsystem name="navigation"/>
        <subsystem name="ins" type="alt_float"/>
        <subsystem name="radio_control" type="ppm"/>
  

        <subsystem name="telemetry" type="transparent">
        <configure name="MODEM_BAUD" value="B57600"/>
        </subsystem>
    
        <subsystem name="control"/>
    
        <subsystem name="imu" type="drotek_10dof_v2">
        <configure name="DROTEK_2_I2C_DEV" value="i2c0"/>      
        </subsystem>


<subsystem name="ahrs" type="float_dcm">
<define name="USE_MAGNETOMETER" value="0"/> 
<define name="USE_MAGNETOMETER_ONGROUND" value="0"/>
</subsystem>
    
        
        </firmware>
        

  
        <modules>
        <load name="openlog.xml"/>
        <load name="baro_ms5611_i2c.xml">
        <define name="SENSOR_SYNC_SEND"/>
        </load>
        </modules>


        </airframe>



<http://lists.paparazziuav.org/file/n14412/GCS.png> 


Greeting,

Martin



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