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[Paparazzi-devel] Reply to:"Re: Warning possible bug in "ins_arduimu.c"

From: Chris
Subject: [Paparazzi-devel] Reply to:"Re: Warning possible bug in "ins_arduimu.c" (Steve Joyce)
Date: Fri, 18 Feb 2011 21:24:34 +0200
User-agent: Mozilla/5.0 (X11; U; Linux i686; en-US; rv: Gecko/20101208 Thunderbird/3.1.7

Hi Steve you mean that the calibration depends on the size of the wheels fitted on a particular airplane or in other words to the attitude the plane has during initialization? The way you describe is the same i implemented for further testing (initializing the variable inside the "ins_arduimu.c" using the "RadOfDeg() function.

Just to supplement my thoughts i think that there is no error in arduimu.c file it is just that the units are get mixed from the definitions inside the airframe file:

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>

It should probably read:
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="radians"/>

or perform the conversion in the initialization of the arduimu code like you said.

Also the settings file should change the pitch and roll neutrals in degrees like this:
<dl_settings NAME="ins">
<dl_setting MAX="10." MIN="-10." STEP="0.1" VAR="ins_roll_neutral" shortname="roll_neutral" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/> <dl_setting MAX="10." MIN="-10." STEP="0.1" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>


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