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Re: [Paparazzi-devel] Booz and ahrs - general questions

From: antoine . drouin
Subject: Re: [Paparazzi-devel] Booz and ahrs - general questions
Date: Tue, 15 Jan 2008 19:55:59 +0100
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Hi David

Quoting David Pérez-Piñar López <address@hidden>:

> Hi all,
> As explained in my previous post, I'm making up a Classix board. At the same
> time, I'm studying the software from the repository.
> The questions: I don't understand what all that booz files are. Just part of
> a specific implementation of paparazzi?

booz files are an attempt to adapt Paparazzi to VTOL, a draganflyer at the
moment. It includes a flight dynamic model ( sw/simulator/booz_flight_model.c ),
a sensor model ( sw/simulator/booz_sensors_model.c ), attitude filters (
ahrs_quat_fast_ekf.c and sw/airborne/multitilt.c ) and control (
sw/airborne/booz_control.c ) and a makefile ( conf/autopilot/conf_booz.makefile
As mentioned before, this software is able to fly a brushless quadrotor under
attitude control and work is in progress toward autonomous navigation.

> Another one: I would like to add some kind of inertial unit to my system. I
> have read the info on AHRS unit, and also the source code in AHRS files.
> These files are located into the airborne folder, and I would like to know
> what sensors are used by the code: just gyros and altimeter, directly
> connected to ADC ports?

The current quadrotor uses the IMU in the CVS ( hw/senors/imu_3_xy.brd )
It consist in a LPC2148, 3 adxrs gyros hooked to a 16 bits max1167 analog to
digital converter, a 3 axis freescale accelerometer hooked to the internal ADC
of the LPC, and depending on the mood, a  3 axis PNI micromag magnetomer (SPI)
or an AMI601 ( 3 axis magnetomer +  3 axis accelerometer, i2c )

For altitude estimation/control, we did some successfull experiments close to
ground using an ultrasonic rangemeter. Work is in progress to use a combination
of accelerometers and barometer for altitude estimation.

Best Regards


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