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

From: Broghammer, Guido
Subject: RE: [Paparazzi-devel] Booz and ahrs - general questions
Date: Wed, 16 Jan 2008 16:13:52 +0100

Hi all,

I am a very beginner and I try to understand the paparazzi software and hardware architecture at the moment. I am very impressed and decide to build my own VTOL. I think I have understood the basics about the tiny board, the related components (sensors, servos,…) and the software in combination with the Funjet airframe.

But I don't understand the booz architecture. Will the Tiny be the central component anymore? If yes, how will the IMU be connected to it? The PNI micromag magnetometer will be connected to the Tiny SPI bus?


Thanks for your help



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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