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Re: [Paparazzi-devel] Using Floating-Point IMU Data

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Using Floating-Point IMU Data
Date: Wed, 17 Nov 2010 15:14:38 +0100
User-agent: Mozilla/5.0 (X11; U; Linux i686; en-US; rv: Gecko/20101006 Thunderbird/3.0.9


The filter and control running on rotorcraft is only using fixed point, so you have to convert the value you receive them from the imu.
You can use the conversion macros in math/pprz_algebra.h (for example EULERS_BFP_OF_REAL to convert from float to int with respect of the resolution).


Le 17/11/2010 00:32, Matthew Plymale a écrit :
Hello all, this is my first post.

I am trying to interface the Vectornav VN-100 IMU into Paparazzi. (It is listed on the paparazzi wiki as "more info coming soon".) One thing that has me stumped is that the VN-100 sends back all of its gyro, mag and accel data in IEEE754 floating point numbers. While Paparazzi has defined an ImuFloat struct and an imu_float_init, it doesn't seem that they are being used in main.c (For the record my team is building a quadrotor, so we are using the rotorcraft firmware). Can anybody point me to an effective means of getting Paparazzi to use the ImuFloat data instead of Imu? That means having main.c call imu_float_init instead of imu_init.

I will make an account on the wiki soon and post my other findings with the VN-100. Hopefully I can contribute something because the embedded firmware library that comes with this particular IMU is very well documented, and pretty straightforward to use. (Though the chip itself is rather pricy at $800 a pop)

Many thanks
Matthew Plymale, Concordia University, Canada
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