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

From: David Pérez-Piñar López
Subject: RE: [Paparazzi-devel] Booz and ahrs - general questions
Date: Tue, 15 Jan 2008 22:31:20 +0100


Thanks a lot for the info! I am also considering the possibility of using an
ultrasonic sensor, as I would like to add automatic take-off and landing as
future capabilities. With respect to the IMU, I'm in the design process, and
probably will use a custom design. Not sure if using a full 3 axis gyro unit
or just rely on 1 gyro and IR/accels/magnetometers for pitch and yaw (there
it is the budget variable :)



David Pérez-Piñar López
Grupo de Tecnología de la Señal
Universidad de Vigo
986 812683

-----Mensaje original-----
De: address@hidden
[mailto:address@hidden En
nombre de address@hidden
Enviado el: martes, 15 de enero de 2008 19:56
Para: address@hidden
Asunto: Re: [Paparazzi-devel] Booz and ahrs - general questions

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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