Re: [Paparazzi-devel] Xsens MTi-G

[Christophe De Wagter]

Just to be sure:

are you using the "old" Mti-G or the new MtiG-700?

If you have the new one, then you also must use the new subsystem <subsystem name="ins" type="xsens700" />

-Christophe 

On Mon, Sep 9, 2013 at 10:43 AM, Christophe De Wagter <address@hidden> wrote:

the fixedwing code is split in FBW and AP

I think you now have AHRS_TRIGGERED_MAIN_LOOP set in your airframe file, which waits for AHRS(Xsens) messages to then compute control commands with absolutely minimal delay (just when they were received) and does only compute new control commands when new attitude data is available. 

If for some time the FBW does not receive any control signal (e.g. on XSens startup or without any XSens connected) then it informs the user that the AP is failing: (not the FBW) and suggests to switch to manual mode, and if you don t it activates the failsafe mode (until either manual mode is selected with the RC or the AP starts giving data)

If you remove the AHRS_TRIGGERED_MAIN_LOOP, then you will not get this message anymore, but if you do not receive data from the XSens, you will not get any warning either, which in my opinion is less safe. 

-Christophe 

On Sat, Sep 7, 2013 at 8:21 PM, Iman <address@hidden> wrote:

Hello

I want to know that , can I use AP without xsens connection? I want to make
sure about my airframe file code works correct on my hardware.

Now, when I connect to AP(without IMU) by telemetry , I get "22:48:43
UMARIM_XSENS, FAIL
22:48:43 UMARIM_XSENS, mayday, AP Failure. Switch to manual." message in
GCS.

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