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Re: [Paparazzi-devel] ArduIMU on Wiki

From: David Conger
Subject: Re: [Paparazzi-devel] ArduIMU on Wiki
Date: Tue, 02 Nov 2010 17:42:46 -0700

Now that was an easy fix :)

Many thanks. PFD is now showing correct roll and pitch values. 

Time to fly :D

On Nov 2, 2010, at 9:16 AM, Martin Mueller wrote:

> Hi David,
> with the Arduino debug plug pointing forward in flight and parts up the 
> directions work ok for me. Maybe it is the earth horizon moving the other way 
> than the aircraft?
> Martin
> On 02.11.2010 05:07, David Conger wrote:
>> Hi Martin,
>> With your help I have a Tiny2.11 with an ArduIMU connected to the I2C port. 
>> I followed the Wiki and am using your airframe suggested with the exception 
>> that I also commented the ADC IR values and set the modem to transparent.
>> Holding the IMU with the arrows on the IMU for X,Y,Z I see pitch in the PFD 
>> is shown correctly. However the roll is reversed. If this was an airframe 
>> with IR I would change the sign for: LATERAL_CORRECTION in the INFRARED 
>> section. As expected there is no INFRARED section. I sure could use a 
>> LATERAL_CORRECTION value to modify though :)
>> Is there a way I do not see to reverse the roll? Before doing this I did 
>> upload the firmware in SVN for the arduIMU (as per the Wiki).
>> BTW, very cool to see IMU data and the PFD artificial horizon responding to 
>> the IMU movements. Thank you for all your help so far. I think I am close.
>> -David
>> On Oct 30, 2010, at 11:26 PM, Martin Mueller wrote:
>>> Hi David,
>>>> Thanks to the new notes I have a compiled airframe
>>>> I would like to try the ArduIMU and followed the steps from the Wiki. 
>>>> However there was no mention of this value:
>>>>     <subsystem name="attitude"         type="infrared"/>
>>>> ...and the IR_ values farther in..
>>>> Can someone help. If I do  not have IR and am flying with ArduIMU what 
>>>> becomes of those values? Removing them all brings compile errors. Leaving 
>>>> them without any IR sensors won't cause issues?
>>>> Would it be possible for someone who is flying with IMU to post their 
>>>> airframe to SVN or in a reply? vn100 or ArduIMU or even Booz IMU.
>>> you might try airframes/mm/fixed-wing/fw_ins_arduimu.xml. The infrared must 
>>> be removed at the moment not to have two software parts update the 
>>> estimator. Did you use settings/tuning_ins.xml as mentioned in (4)?
>>> Martin
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