[Paparazzi-devel] re: razor imu

[GARCIA ALVAREZ, ANA]

Sorry I ask again, I am trying to incorporate a razor imu into a fixed wing aircraft.

 I don’t know if it should work with the current software in the main branch or if I should change anything. I know the autopilot gets the values from the adcs, because I can see them in the messages accel and gyro.

But I don’t have evidence that these values are used in order to let the autopilot know the attitude of the aircraft(the attitude message is fixed and the PFD doesn’t move)-I assume this is the difference between using an imu or the ir sensors-.

What files should I look for? Is there any branch where they work and I could have as reference?

Another question related to the imu is that the sensor outputs only change from one unit to another. I mean, with the accel values in m/s2, the z component is 10 (9 or 11), not intermediate values.Changing the “sens” parameter I get 100, but no more accurate. Is it the normal behavior?

Thanks