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Re: [Paparazzi-devel] TWOG/TINY v2 IMU

From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] TWOG/TINY v2 IMU
Date: Wed, 20 Jan 2010 12:15:07 +0100
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)


you can do this. We use a tiny1.3 for our first  quadrocopter prototype.
http ://
This is also possible for normal planes.

Also there is an IMU-Version with additional pressure sensors booz V 1.1 from 12/2008 made by Johne and Poine.

You can also use the new IMU-PCB from Poine and a pressure sensor with I2C found in the booz hardware directory.

Our club members made a IMU with Sparkfun modules (17mm*17mm*17mm). This is expensive (200 euros) but fast and simple to do.

You can use the IMU-PCB of the HB-Autopilot project. This IMU is designed for the use with the tinys and all kinds of aircrafts.

Currently only 2 rates sensors are working well and have proven on MAV without any problems the  ADXRS610 and  the MLX90609EEA-R2.
The Melexsis sensors can soldered by hand. You can by them here:
Please do not use the rate sensors from ST. Manny users have reported problems with vibrations.
Our HB-IMU PCB can use all  this sensors.

For the filter  software you can look here:

Paul Bizard's Matlab S-functions for DCM algorithm and extended Kalman filter

This is well documented and work with same other autopilot projects.



Jesus Martin Sanchez schrieb:

   Any body have tried an imu with that autopilots? I´m looking for a thermopile replacement... but the diydrones it´s going to avaliable maybe in summer... the chimu one with the analog converter only use x and y inputs, no the z, and I don´t know if it´s possible. what happen if I don´t connect anything in the z input sensor?

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