Re: [Paparazzi-devel] Aspirin IMU 1.5 x,y swap

[Bruzzlee]

Hi Felix

Thank you for the answer.

I have the Aspirin v1.5 but the system runns correct with aspritin_v1.0 defined....

On the GCS the quadrotor symbol shows its front with a small arrow.
If I point the front of the Lisa (front according to the PFD) to the north, the small arrow on the GCS will point to the west if the aspirin_V1.5 is defined.
With aspirin_v1.0 defined, the arrow will point to the same direction like the front of the Lisa.
( BODY_TO_IMU are all set to 0)

About the directions:

It is like you described it according to the PFD if aspirin_v1.0 is defined.

I think my Aspirin is labeled wrong. It is maybe an aspirin v1.0...

The quadrotor already flew completely autonomous with aspirin v1.0 defined ;-)
http://youtu.be/VAZzlRwDgFI

Thank you
Bruzzlee

On 13.05.14 02:15, Felix Ruess wrote:

Hi Bruzzlee,

use aspirin_v1.5 if you have a v1.5 version... should work correctly if you choose the correct version.

Not 100% sure what you mean with the front points to the right, but it is probably correct.

The axes should be the same for all Lisa/M with Aspirin versions:

If you put the Lisa/M down with molex connectors facing up and the servo connectors to the right (so you can read the silkscreen):

x-axis is towards you

y-axis is to the left

z-axis is pointing down

Cheers, Felix

On Thu, Apr 17, 2014 at 9:47 PM, Bruzzlee <address@hidden> wrote:

Hi all

I have an Aspirin v1.5 mounted on the LisaM 1.0

If I define
        <subsystem name="imu"           type="aspirin_v1.0"/>
The directions seem to be correct

But if I define
        <subsystem name="imu"           type="aspirin_v1.5"/>

The front of the LisaM points to the right.
With front I define the PFD behaviour.

The Wiki "says": The front of IMU is marked as X axis. Warning! Aspirin 1.5 has x and y silkscreen swapped.
But this seems to wrong for my Aspirin 1.5

What could be the reason?

( BODY_TO_IMU are all set to 0)


I've found those code snippets which affects:

----------- imu_aspirin.c-------

#ifdef IMU_ASPIRIN_VERSION_1_0
    VECT3_COPY(imu.mag_unscaled, imu_aspirin.mag_hmc.data.vect);
#else // aspirin 1.5 with hmc5883
    imu.mag_unscaled.x =  imu_aspirin.mag_hmc.dat
a.vect.y;
    imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x;
    imu.mag_unscaled.z =  imu_aspirin.mag_hmc.data.vect.z;

----------- hmc58xx.c---------

      if (hmc->type == HMC_TYPE_5843) {
        hmc->data.vect.x = Int16FromBuf(hmc->i2c_trans.buf,0);
        hmc->data.vect.y = Int16FromBuf(hmc->i2c_trans.buf,2);
        hmc->data.vect.z = Int16FromBuf(hmc->i2c_trans.buf,4);
<
div class="line" id="LC147">      }

      /* HMC5883 has xzy order of axes in returned data */

      else {

        hmc->data.vect.x = Int16FromBuf(hmc->i2c_trans.buf,0);

         hmc->data.vect.y = Int16FromBuf(hmc->i2c_trans.buf,4);

        hmc->data.vect.z = Int16FromBuf(hmc->i2c_trans.buf,2);

      }

Thank you Bruzzlee

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