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Re: [Paparazzi-devel] NPS Simulator: IMU Simulation

From: Felix Ruess
Subject: Re: [Paparazzi-devel] NPS Simulator: IMU Simulation
Date: Sun, 23 Jan 2011 16:23:06 +0100

Hi Matthew,

so if you have e.g. the B2 IMU in your airframe file:
  <subsystem name="imu"           type="b2_v1.1"/>
This just adds the conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile to your generated var/<aircraft>/ If you have a look at the imu makefile you can see what files get added to the sim sources, among them:
  sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
The makefile variable SRC_ARCH is always set to the architecture you are compiling for (sim for sim (board="pc") and lpc21 for the booz board).

Do you have your own IMU implementatin that you need to write imu_feed functions for?

Most of the files used in the sim target on rotorcraft (NPS) are set in conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile wich normally gets loaded with
  <target name="sim" board="pc">
      <subsystem name="fdm"   type="nps"/>
in your airframe file.

Also currently the stabilization, etc. used for the NPS is mostly set there. We should probably use the same ones set for ap (add the sources for the sim target to the respective subsystem makefile and take that out of the fdm_nps.makefile).
If you want to improve this, please don't hesitate to ask for more info.
And patches/pull requests are welcome!

Cheers, Felix

On Thu, Jan 20, 2011 at 9:32 PM, Matthew Plymale <address@hidden> wrote:
I am using NPS as the simulator in Paparazzi for our quadrotor. nps_autopilot_booz expects some imu_feed functions to simulate the IMU. Where must these functions be defined? I looked at some examples and found that the B2 IMU has 3 different arch files: one for stm32, one for lpc2148 and one for sim. In the sim file, I can see imu_feed_etc. but how does Paparazzi select which IMU architecture code to use in the simulator? Where would I write my own imu_feed functions so that they are used in simulation?
Matthew Plymale
Concordia University

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