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Re: [Paparazzi-devel] How to BIND EXT MAG Messages to AHRS


From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] How to BIND EXT MAG Messages to AHRS
Date: Wed, 29 Jul 2015 23:55:37 +0200
User-agent: Mozilla/5.0 (X11; Linux i686; rv:31.0) Gecko/20100101 Thunderbird/31.7.0

Yes, of course. You can update the ahrs page: http://wiki.paparazziuav.org/wiki/Subsystem/ahrs

Thanks

G.

Le 29/07/2015 23:52, Rijesh Augustine a écrit :
It is working fine. Thanks. Can I update this info somewhere on the wiki?

On Wed, Jul 29, 2015 at 3:42 PM, Gautier Hattenberger <address@hidden> wrote:
Hi,

My fault, it is AHRS_XXX_MAG_ID, so either AHRS_FC_MAG_ID or AHRS_ICQ_MAG_ID in your case.

Gautier


Le 29/07/2015 23:38, Rijesh Augustine a écrit :
Hi,

I am using v5.5.1_testing-148-g5cca43a-dirty.
I pulled earlier today.

I usually use float_cmpl_quat. I tried ABI_FC_MAG_ID but that didn't work.

I then tried int_cmpl_quat with ABI_ICQ_MAG_ID but that also didn't work.


    <subsystem name="ahrs" type="int_cmpl_quat">
      <define name="USE_MAGNETOMETER" value="TRUE"/>
      <!--configure name="AHRS_USE_GPS_HEADING" value="TRUE"/-->
      <define name="F_PROPAGATE_QUAT"/>
      <define name="ABI_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
    </subsystem>

Rijesh


On Wed, Jul 29, 2015 at 3:12 PM, Gautier Hattenberger <address@hidden> wrote:
Hi,

Which version are you using (type ./paparazzi_version) ?

Assuming you are using the latest master version, you can try adding this line to the module configuration:
<define name="ABI_XXX_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>

where XXX should be replaced according to the AHRS filter you're using. Which one is it ?

Gautier

Le 29/07/2015 21:45, rijesh a écrit :
Hi All,

I have just started using an external MAG with my Lisa MX.

I have the following defined in my airframe file:

     <load name="mag_hmc58xx.xml">
       <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
       <define name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
     </load>

In messages the IMU MAG field gets updated by my external Mag, but the PSI
value is still being updated by my onboard MAG.

I am on commit fb9170

Full airframe file http://pastebin.com/mqAkfHnv

Thanks
Rijesh



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