Re: [Paparazzi-devel] Drotek imu calibration problem

[Eduardo lavratti]

Chris, the chdk and airspeed 7002 module is public ?
I finishing my small flywing and i will use my canon sx200 on it.


regards.

> Date: Sun, 7 Apr 2013 20:08:47 +0300
> From: address@hidden
> To: address@hidden
> Subject: Re: [Paparazzi-devel] Drotek imu calibration problem
>
> Hi.
> Here is the the relevant section of the airframe file (my airframe is
> rather long)
> <firmware name="fixedwing">
>
> <target name="ap" board="twog_1.0"/>
> <target name="sim" board="pc"/>
>
> <define name="USE_LED_1"/>
> <define name="USE_LED_2"/>
> <define name="USE_LED_3"/>
> <define name="USE_LED_4"/>
> <define name="AGR_CLIMB"/>
> <define name="WIND_INFO"/>
> <define name="WIND_INFO_RET"/>
> <define name="STRONG_WIND"/>
> <define name="ALT_KALMAN"/>
> <define name="USE_I2C0"/>
> <define name="SENSOR_SYNC_SEND"/>
> <define name="USE_AIRSPEED"/>
> <define name="USE_AHRS_GPS_ACCELERATIONS"/>
>
>
> <subsystem name="telemetry" type="transparent">
> <configure name="MODEM_BAUD" value="B9600"/>
> </subsystem>
> <subsystem name="gps" type="ublox">
> <configure name="GPS_BAUD" value="B38400"/>
> </subsystem>
>
>
> <subsystem name="control" type="energy"/>
> <subsystem name="radio_control" type="ppm"/>
> <subsystem name="navigation" />
>
> <subsystem name="imu" type="aspirin2_i2c">
> <define name="MPU60X0_ADDR" value="MPU60X0_ADDR_ALT" />
> <define name="USE_I2C"/>
> <define name="USE_I2C0"/>
> </subsystem>
>
> <subsystem name="ahrs" type="float_dcm"/>
> <configure name="USE_MAGNETOMETER" value="0"/>
> <configure name="SYS_TIME_LED" value="1"/>
> <configure name="GPS_LED" value="2"/>
>
> </firmware>
>
> <modules>
> <load name="baro_ms5611_i2c.xml"> <!-- this is for the DROTEK IMU -->
> <define name="MS5611_SLAVE_ADDR=0xEE"/>
> <define name="SENSOR_SYNC_SEND"/>
> </load>
> <load name="nav_catapult.xml"/>
> <load name="parachute.xml"/>
> <load name="airspeed_adc_7002.xml"/>
> <load name="chdk.xml"/>
> <!--Turnigy 180 degree analog servo can do 270 degrees rotation -->
> <load name="my_cam_v3_3_yaw_pitch_nose_270.xml"/>
> <load name="airborne_ant_track.xml"/>
> <!-- <load name="my_baro_bmp.xml"/> -->
> <!-- <load name="gps_ubx_ucenter.xml"/> -->
> </modules>
>
> <section name="IMU" prefix="IMU_">
> <!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec
> / 12bit FRAC: 4096 / 939.65 -->
> <define name="GYRO_P_SENS" value="4.359" integer="16"/>
> <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
> <define name="GYRO_R_SENS" value="4.359" integer="16"/>
>
> <define name="GYRO_P_Q" value="0."/>
> <define name="GYRO_P_R" value="0"/>
> <define name="GYRO_Q_P" value="0."/>
> <define name="GYRO_Q_R" value="0."/>
> <define name="GYRO_R_P" value="0."/>
> <define name="GYRO_R_Q" value="0."/>
>
> <define name="GYRO_P_SIGN" value="1"/>
> <define name="GYRO_Q_SIGN" value="1"/>
> <define name="GYRO_R_SIGN" value="1"/>
>
> <!-- Found with calibrate.py script -->
> <define name="ACCEL_X_NEUTRAL" value="61"/>
> <define name="ACCEL_Y_NEUTRAL" value="6"/>
> <define name="ACCEL_Z_NEUTRAL" value="-67"/>
>
> <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit
> FRAC: 1024 / 208.7665 -->
> <define name="ACCEL_X_SENS" value="9.81" integer="16"/>
> <define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
> <define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
>
> <define name="ACCEL_X_SIGN" value="1"/>
> <define name="ACCEL_Y_SIGN" value="1"/>
> <define name="ACCEL_Z_SIGN" value="1"/>
>
> <define name="MAG_X_NEUTRAL" value="0"/>
> <define name="MAG_Y_NEUTRAL" value="0"/>
> <define name="MAG_Z_NEUTRAL" value="0"/>
>
> <define name="MAG_X_SENS" value="1" integer="16"/>
> <define name="MAG_Y_SENS" value="1" integer="16"/>
> <define name="MAG_Z_SENS" value="1" integer="16"/>
>
> <define name="MAG_X_SIGN" value="1"/>
> <define name="MAG_Y_SIGN" value="1"/>
> <define name="MAG_Z_SIGN" value="1"/>
>
> <define name="BODY_TO_IMU_PHI" value="0"/>
> <define name="BODY_TO_IMU_THETA" value="0"/>
> <define name="BODY_TO_IMU_PSI" value="0"/>
> </section>
>
> ALSO YOU NEED TO EDIT FILE
> "~/paparazzi/sw/airborne/peripherals/mpu60X0.h" and replace
> the line (#5 i think) with "#define MPU60X0_ADDR 0xD0" with:
>
> #ifndef MPU60X0_ADDR
> #define MPU60X0_ADDR 0xD0
> #else
> #warning USER SET MPU60X0 I2C Address
> #endif
>
> in order to be able to set the I2C address from the airframe or elsewhere.
>
> Chris
>
>
>
> On 04/07/2013 07:00 PM, address@hidden wrote:
> > Hi Chris,
> >
> > would you please post your all your airframe configuration ?
> >
> > I am using same IMU and I want to compare
> >
> > Thanks
> >
> > Imed LIMAIEM
> > address@hidden
>
>
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