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[Paparazzi-devel] IMU Project

From: Rui Costa
Subject: [Paparazzi-devel] IMU Project
Date: Sun, 28 Jun 2009 18:37:42 +0000

I'm designing an IMU to stabilize a video gimbal for small UAV's. I'm using gyros and accel from Sparkfun and super fast digital servos from MKS. It will have a tilt of 100 degrees and a continuous 360 degrees of pan. I will use amodified digital servo from MKS and an encoder.
At first tests, I will use Arduino board. But when success I intend to pass to the paparazzi board. So, I can connect the two paparazzi boards with SPI bus. After the IMU will stabilize the video system and the aircraft too.
I'm facing a litle problems with the inicial C code with the kalman filter. I think the gyro integrate is wrong.
Anyone have experience in IMU's and kalman filtering? We need some help with our code.

Best regards
Rui Costa

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