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Re: [Paparazzi-devel] re:razor imu

From: Felix Ruess
Subject: Re: [Paparazzi-devel] re:razor imu
Date: Wed, 9 Feb 2011 18:03:54 +0100

Hi Ana,

these are automatically generated from IMU_GYRO_SENS. The floating point sens value is approximated by a fraction with *_SENS_NUM as numerator and *_SENS_DEN as denominator. That way this can be done in fixed point with integers instead of doing the multiplication with floating point numbers.
That is why you specify the integer type to use with the SENSE values:
<define name="GYRO_P_SENS" value="1.1032765" integer="16" />

Cheers, Felix

On Wed, Feb 9, 2011 at 5:26 PM, GARCIA ALVAREZ, ANA <address@hidden> wrote:


I have looked into the imu.h file( in subsystems). I can see a IMU_GYRO_SENS_NUM and IMU_GYRO_SENS_DEN while in the airframe file there is only a IMU_GYRO_SENS. Is it consistent or should there be these parameters defined?


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