Re: [Paparazzi-devel] Are there code already using Xsens MTi-G IMU in paparazzi?

[Gautier Hattenberger]

Hi,

This part of the booz code (filters) as been done by Antoine (poine), so 
I've not really looked into it. I think he can help you better than me.

By the way, I'm writing some code for a more generic driver for the 
Xsens IMU. It will be available in september after I can make some tests.

Gautier

Haiyang Chao a écrit :
> Thanks for your code, Gautier.
>
> One more question after I looked the booz_quat_fast_ekf.c about the 
> sensor bias and noise.
> How did u measure the noise from the gyro? Just keep it static and 
> measure like 1000 data. Are we assuming the noise level around 
> gyro_output = 0 and gyro_output=12 is the same?
>
> How did u calculate the R noise? In the code, the R is defined as:
> #define AFE_R_PHI   1.3 * 1.3
> #define AFE_R_THETA 1.3 * 1.3
> #define AFE_R_PSI   2.5 * 2.5
>
> Assume the accelerometer has noise level: 0.002 m/s^2/sqrt(hz) and the 
> compass has a noise level: 0.5mGauss. How can I calculate the R_PHI, 
> R_THETA and R_PSI?
>
> Regards
> Haiyang
>
> On Fri, Aug 1, 2008 at 4:49 AM, Gautier Hattenberger 
> <address@hidden 
> <mailto:address@hidden>> wrote:
>
>     Hi Chao,
>
>     There is a driver for the Xsens MTi-G in sw/airborne/booz/quad_xsens.c
>
>     If you want to use it on a fixed wing aircraft you will have to do
>     some work to adapt it by making your own parse_ins_msg() function.
>
>     Gautier
>
>     Haiyang Chao a écrit :
>
>         Hi, all and probably Gautier if u are not so busy.
>
>         I am looking into how to integrate  Xsens MTi-G IMU with
>         paparazzi for fixed wing UAV right now.
>
>         I am wondering if there are already codes written for using
>         Xsens_MTi-G IMU with paparazzi, especially booz. I checked my
>         pprz directory and I found only several related files:
>         paparazzi3/var/include/xsens_protocol.h,
>         paparazzi3/conf/xsens_MTi_G.xml, sw/tools/gen_xsens.ml
>         <http://gen_xsens.ml> <http://gen_xsens.ml>. The second one is
>          created on 2008/04/15 by gautier. The first one is
>         automatically generated from the second one. Obviously the
>         protocol with Xsens MTi-G is already there.
>
>
>         But I found nothing while I tried to see if any other files
>         are using this "xsens_protocol.h". I used "  grep -r -n
>         'xsens_protocol.h'  ".
>
>         So does this mean that there are no codes right now to use
>         Xsens MTi-G IMU in paparazzi or the developers are still
>         working on that? I guess I have to write some serial
>         communication code myself to get the IMU working with pprz, right?
>
>         Any comment or discussion on the current status of using Xsens
>         IMU or other IMUs is welcomed.
>
>         Regards
>         Haiyang
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