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Re: [Paparazzi-devel] re: razor imu

From: Felix Ruess
Subject: Re: [Paparazzi-devel] re: razor imu
Date: Thu, 13 Jan 2011 18:15:38 +0100

Hi Ana,

I just merged Christophe's fastperiodic branch (which as the name says allows to set a separate Periodic/IMU freq, Propagation Freq and Correction Freq). Have a look at conf/airframes/TU_Delft/MicrojetCDW.xml if you are interested in that.

You might want to have a look at the example_twog_analogimu.xml airframe file. But beware that the IMU neutral/sign/sense values are not correct. Maybe someone with a razor IMU can actually test this and set the correct ones?

Cheers, Felix

On Thu, Jan 13, 2011 at 12:35 PM, Christoph Niemann <address@hidden> wrote:

Hi Ana,

the integration of the Code was done by Felix and Christophe in December, as you know. I for myself didn't have the time yet to evaluate, that the code in the main branch is working, so I'm afraid, I can't help you with that, yet. But if you just want to try if your Hardware and you Code is working, or you want a logfile of a working instance of the Razor-IMU, you might want to have a look at this:
There i described my setup and there is also a link to the github branch, I'm actualle using. Perhaps it helps.

Good luck


Am 13.01.2011 09:57 schrieb "GARCIA ALVAREZ, ANA" <address@hidden>:

Sorry I ask again, I am trying to incorporate a razor imu into a fixed wing aircraft.

 I don’t know if it should work with the current software in the main branch or if I should change anything. I know the autopilot gets the values from the adcs, because I can see them in the messages accel and gyro.

But I don’t have evidence that these values are used in order to let the autopilot know the attitude of the aircraft(the attitude message is fixed and the PFD doesn’t move)-I assume this is the difference between using an imu or the ir sensors-.

What files should I look for? Is there any branch where they work and I could have as reference?

Another question related to the imu is that the sensor outputs only change from one unit to another. I mean, with the accel values in m/s2, the z component is 10 (9 or 11), not intermediate values.Changing the “sens” parameter I get 100, but no more accurate. Is it the normal behavior?


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