[Paparazzi-devel] IMU Project

[Rui Costa]

Hello,

 

 

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
www.azoreanuav.com