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

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Are there code already using Xsens MTi-G IMU in paparazzi?
Date: Fri, 01 Aug 2008 12:49:55 +0200
User-agent: Thunderbird (X11/20080724)

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.


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/ <>. 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.


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