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Re: [Paparazzi-devel] re: Razor IMU Wiring Diagram

From: antoine drouin
Subject: Re: [Paparazzi-devel] re: Razor IMU Wiring Diagram
Date: Wed, 26 Jan 2011 09:59:03 +0100

you should probably calibrate your sensors if you want the filter to
perform well.
magnetometer and accelerometers can be calibrated with no additional
hardware. You can look in the wiki at how it's done for rotorcrafts (
you need to get the raw ADC values in the the telemetry, I'm not sure
if it's already done for fixedwing), collect measurements with your
vehicle in different orientations and run the magical filter ( see )
Gyros are a bit trickier to calibrate and you'll probably need a
turntable. My turntable is equipped with an optical encoder that
allows me to accurately measure its rotational speed, but we could
probably write a filter to calibrate gyros using (calibrated)
magnetometer and accelerometer as reference, removing the need for the
rotational speed sensor on the turntable. If someone is willing to
work on such a filter, I'd be happy to help.

Have fun


On Wed, Jan 26, 2011 at 8:19 AM, GARCIA ALVAREZ, ANA
<address@hidden> wrote:
> Hi,
> I have not considered the voltage dividers in the tiny v2.11 adcs, should I?
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden

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