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

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Re: NPS Simulator: IMU Simulation
Date: Mon, 7 Feb 2011 23:52:43 +0100

Hi Matt,

So you are grabbing the accel and gyro values of the VN100? That is the IMU part.
But the VN100 also already does attitude estimation (probably heading as well if it has mag), that is already an AHRS (Attitude And Heading Reference System). The complementary (cmpl) filter does just that as well, estimate the attitude from the IMU measurements.
The INS does more, it estimates position, speed and acceleration as well (e.g. using GPS data as well). That is what hff (horizontal filter float) does in a primitive way.

Cheers, Felix

On Wed, Feb 2, 2011 at 6:54 PM, Matthew Plymale <address@hidden> wrote:
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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