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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: Mon, 11 Aug 2008 18:10:31 +0200
User-agent: Thunderbird (X11/20080724)


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.


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?


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.


    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/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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