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

From: Matthew Plymale
Subject: [Paparazzi-devel] Re: NPS Simulator: IMU Simulation
Date: Wed, 2 Feb 2011 12:54:45 -0500

I'm using a rotorcraft airframe based on the Booz2_A1. I put the VN100 code in the  imu part, since the VN100 can supply the required gyro and accel values. To be perfectly honest, I'm not totally sure how the INS and AHRS subsystems fit into this, so I used the default things for those (cmpl and hff). I'm using the VN100 firmware library to grab the values off of the chip. 
Matthew Plymale
Concordia University

The vn100 module is build with a generic part to parse the messages
coming from the spi and a specific part that makes the proper
initialization and update the estimator interface. For the specific
part, only the fixedwing part has been done (unless someone did it ?).
This module has been done before the new ahrs interface, so it could
probably be moved/rename somewhere else.
For your simulation, NPS is suppose to be a rotorcraft simulator (for
now). What kind of airframe do you have?


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