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Re: [Paparazzi-devel] ArduIMU on Wiki

From: Martin Mueller
Subject: Re: [Paparazzi-devel] ArduIMU on Wiki
Date: Thu, 04 Nov 2010 06:59:28 +0100
User-agent: Mozilla/5.0 (X11; U; Linux i686; en-US; rv: Gecko/20101027 Thunderbird/3.0.10

Hi David,

it is in (3) of

"This Guide/Software is made to use the ArduIMU without separate GPS-Receiver and without Compass/Magnetometer. The GPS-Data is sent by the Tiny 2.11 over I2C to the IMU. "


On 04.11.2010 06:30, David Conger wrote:

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?


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.

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)?


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