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Re: [Paparazzi-devel] Umarim IMU Issue

From: Refik Sever
Subject: Re: [Paparazzi-devel] Umarim IMU Issue
Date: Tue, 27 Aug 2013 12:10:41 +0000


Before I saw the Iman's email, I was unaware of this issue. Our plane had a lot of crashes at the beginning  because ahrs got confused after a big turn or a loop. Today I turned the plane on the ground and saw that the PFD shows totally different after a loop.  

I added these two lines which is described in the issue and now it behaves normally.

I think that it will be good to add something about this issue on the umarim page of wiki to inform beginners.




The issue was that AHRS_PROPAGATE_FREQUENCY was not set in the Umarim airplane example configs and defaulted to 60Hz that made it "sort of usable" in normal flying but killed it with a roll or looping. The config files should contain at least

  <configure name="AHRS_PROPAGATE_FREQUENCY" value="50"/>
  <configure name="AHRS_CORRECT_FREQUENCY" value="50"/>

From: Iman
Subject: Re: [Paparazzi-devel] Umarim IMU Issue
Date: Sat, 24 Aug 2013 18:51:14 -0700 (PDT)

Hello I have a problem with my Umarim_lite_v2 : there is a large delay in reaction of IMU to movements. I'm reading this <> discussion but I want to know that is there any way for fixing this problem? I'm using Umarim default airframe file on Paparazzi V5

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