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Re: [Paparazzi-devel] ArduIMU on Wiki

From: David Conger
Subject: Re: [Paparazzi-devel] ArduIMU on Wiki
Date: Wed, 03 Nov 2010 22:30:54 -0700


Some more questions...and observations. 

What of the GPS? The ArduIMU has a connector for a GPS and the code in the AHRS 
uses GPS to do yaw corrections I believe. I have right now the GPS connected to 
the ArdduIMU but do not see messages for GPS in the GCS.

Are my observations correct that the ArduIMU is to be used without the GPS or 
do I need two GPS to fly with. One for ArduIMU and one for Paparazzi? 

I'll take a photo of my setup tomorrow. I have a YouTube video up of my current 
setup here:

It seems a bit slow. I'll be curious to see if this is not an issue in flight. 

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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