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Re: [Paparazzi-devel] heading with AHRS_USE_GPS_HEADING but no GPS conne


From: Kadir ÇİMENCİ
Subject: Re: [Paparazzi-devel] heading with AHRS_USE_GPS_HEADING but no GPS connected
Date: Wed, 12 Feb 2014 09:10:45 +0200

very interesting case :)  A possible source for heading, came to my mind, is the integration of vertical gyro data but i don't think paparazzi project have implemented a method like this.. i am very curious about the solution ..

Kadir


2014-02-12 6:00 GMT+02:00 alonso acuña <address@hidden>:
Yes I am using ahrs int_cmpl_quat


On Tue, Feb 11, 2014 at 4:27 PM, Felix Ruess <address@hidden> wrote:
Hi Alonso,

what IMU driver and AHRS algorithm are you using?
Assuming you are e.g. using ahrs int_cmpl_quat, did you disable the magnetometer to use GPS heading instead (via <configure name="USE_MAGNETOMETER" value="FALSE"/>)?
If not, you should get a warning that you should probably disable the mag to use gps heading, as using both could have a bad effect if they don't give you the same heading....

Cheers, Felix


On Tue, Feb 11, 2014 at 8:36 AM, alonso acuña <address@hidden> wrote:
Hello. 
I have seen several interesting things:
 - somehow the heading is accurately calculated even when the GPS is not connected. I cannot understand where the heading value is coming from. 
- when the chip is powered up the heading is set to -BODY_TO_IMU_PSI instead of 0 as documented in the file
 

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