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[Paparazzi-devel] Re: new AHRS and battery monitoring on rotorcraft

From: antoine drouin
Subject: [Paparazzi-devel] Re: new AHRS and battery monitoring on rotorcraft
Date: Wed, 23 Mar 2011 15:23:33 +0100

oops. I forgot to mention that you need a couple of defines to use the new AHRS

  <section name="AHRS" prefix="AHRS_">
    <define name="PROPAGATE_FREQUENCY" value="512"/>
    <define name="H_X" value=" 0.51562740288882"/>
    <define name="H_Y" value="-0.05707735220832"/>
    <define name="H_Z" value=" 0.85490967783446"/>

H is the normalized local magnetic field which can be obtained from

example values are for Toulouse

Other flags of interest are
AHRS_PROPAGATE_LOW_PASS_RATES : apply a low pass filter on rotational velocity
AHRS_MAG_UPDATE_YAW_ONLY : use mag to update yaw only

There is a test program ( sw/airborne/test/ahrs/ )
which allows to compare different AHRS implementations on simple test



On Wed, Mar 23, 2011 at 3:12 PM, antoine drouin <address@hidden> wrote:
> Hello World
> Battery monitoring is now functional on stm32/rotorcraft firmware
> (lisa/M and lisa/L).
> I also pushed a new complementary filter AHRS. You can use it by
> replacing the line
>  <subsystem name="ahrs"          type="cmpl"/>
> with
>  <subsystem name="ahrs"          type="ic"/>
> in your airframe.
> Regards
> Poine
> ps: the AHRS should also work on fixedwing, though I still have some
> modifications in main_ap in my tree that are not compatible with those
> made by Christophe. I'll work on that soon.

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