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Re: [Paparazzi-devel] re: razor imu

From: Felix Ruess
Subject: Re: [Paparazzi-devel] re: razor imu
Date: Wed, 19 Jan 2011 01:14:14 +0100

Hi Ana,

any progress? Do you know the correct scale factor for the accel sensor (the SENS parameters)?

I just pushed a commit, so now PERIODIC_FREQUENCY is always defined and the number of samples the aligner collects for low noise detection is automatically set to this value. Default for PERIODIC_FREQUENCY is still 60 (512 for rotorcraft).
So now the aligner should always just take 5 seconds (of low noise).

You can also change the threshold by adding in your airframe file:
<define name="LOW_NOISE_THRESHOLD" value="90000"/>

Cheers, Felix

On Thu, Jan 13, 2011 at 8:11 PM, Felix Ruess <address@hidden> wrote:
Hi Oliver, Ana,

would be great if you could clean up your tree and then make a pull request against the latest master (containing only the necessary fixes) .
I don't have the time to go through your changes right now.

As to the aligner, I'll change that as soon as I have some time. The NB_SAMPLES should equal the main periodic frequency (hence currently fixed to 512, because this is from rotorcraft/booz).
The aligner also waits until the noise was below a threshold for LOW_NOISE_TIME (currently set to 5). For the noise calculation then z accelerometer is taken. For this to work the scaling of the accel has to be in the correct order of magnitude already.

Cheers, Felix

On Thu, Jan 13, 2011 at 7:25 PM, Oliver Riesener <address@hidden> wrote:
Hi Felix, Hi Ana,

i have the new analogimu and ahrs_float_dcm codes with razor imu on tiny13 well working
at the github branch 0lri/paparazzi. The airplane ist HB_TINY_RAZOR in conf.xml.HB.
The code is actual to paparazzi/paparazzi master branch last week.

Thanks for porting goes here to Christoph, Christophe and Felix !

Please merge it into paparazzi master branch, i miss write access.

Ana, you (and your airplane) have still to wait 2:30 min for ahrs_aligner() has finished
calibrating the gyro offsets, then the PFD is working ... :-).
I have changed ahrs_aligner() to takes only 1:30 min, without knowing the traps. ;-)

Cheers, Oliver

Am 13.01.2011 18:15, schrieb Felix Ruess:
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 <mailto: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 <mailto: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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