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GARCIA ALVAREZ, ANA
Thu, 10 Feb 2011 13:40:47 +0100
Dear Dr. Warmers,
I have finally installed Oliver's software version. I had a compiling
error related to an AHRS_ALIGNER_led and have solved it after defining
it in the makefile for my board(tiny v2.11).
Now I can see the PFD running, but don't know if it moves in the usual
way. It has a slow rensponse and a little oscillatory.
From: GARCIA ALVAREZ, ANA
Sent: Thursday, February 10, 2011 10:58
To: 'Prof. Dr.-Ing. Heinrich Warmers'
Subject: RE: RazzorIMU
Dear Dr. Warmers,
I have been looking in this code, although I'll look again. Sorry I'm
asking too much, but am not very experienced in programming and looking
into the code is a bit hard for me.
From: Prof. Dr.-Ing. Heinrich Warmers [mailto:address@hidden
Sent: Thursday, February 10, 2011 10:51
To: GARCIA ALVAREZ, ANA
Dear ARCIA ALVAREZ,
Please look in the branch
of oliver and crihstoph
Pleas note that Christop has put the imu in the opposideed direction
compared to Oliver.
Olivers code is running on a tiny and chistorp on a tworg.
Hi Ana, Hi Felix, Hi Heinrich,
the SENS values in hb_tiny_razor.xml airframe file (4096 = 12 Bit) are
only set to reverse the BFP
formating what ist done for rates in RATES_FLOAT_OF_BFP(gyro_float,
imu.gyro); in ahrs_propagate();
/* convert bfp imu data to floating point */
RATES_FLOAT_OF_BFP(gyro_float, imu.gyro); // olri div by (1<<12)
/* unbias rate measurement */
RATES_DIFF(ahrs_float.imu_rate, gyro_float, ahrs_impl.gyro_bias);
The trick to get it work is to scale the values from deg/s to RAD/s,
see the lines below from my ahrs_propagate();.
// scale gyro adc raw to [rad/s] FIXME // olri
ahrs_float.imu_rate.p /= 61.35f;
ahrs_float.imu_rate.q /= 57.96f;
ahrs_float.imu_rate.r /= 60.10f;
The result of the that *must* give closest-by 0.0... rate on silence!
It's at the moment *impossible* to combine these 2 factors,
becourse the bias is substracted between these to steps.
- [Paparazzi-devel] re:RazzorIMU,
GARCIA ALVAREZ, ANA <=