RE: [Paparazzi-devel] Paparazzi for a Quadrotor -- should i start by using a Tiny V2.1 ??

[郭 flying pig]

Hi there
 
  I have some question also regarding the BOOZ_IMU, so it can connect directly to TinyV.2.11? but from the Sch, it need to supply 6.5V? or it is better to connect BOOZ_IMU to BOOZ_main ?
  From what i guess when i read though all the sch,  Booz_main is the controller, which connect to IMU and GPS (the gps for booz), am i right ?
 
 
 
 
 
 
 
Thanks
 
                                                         Chen
 
> Date: Wed, 27 May 2009 13:11:06 -0700
> Subject: Re: [Paparazzi-devel] Paparazzi for a Quadrotor -- should i start by using a Tiny V2.1 ??
> From: address@hidden
> To: address@hidden
>
> Hello
>
> > At this point of the discussion here and with Anton on the IRC, i would
> > appreciate if some of you could say i am taking the right start :
> > As the new Booz2 hardware is not available , i was thinking to start my
> > quadrotor project in that way :
> >
> > 1)buy from a PPZ user an used Tiny v2.1 board ...
> > 2)build an "homemade" 6 DoF IMU , probably using sensors boards from
> > Sparkfun
> > 3)Connect that IMU to the Tiny board
>
> I doubt you will be able to achieve good perfromances with that solution
> You gyros will be wiggling on the sparkfun sensor boards, the wires
> connecting them to the tiny will inject alot of noise in the fragile
> analog signal and the 10 bits ADCs of the LPC will give you a big
> discretization.
>
> If you intend to assemble hardware, i would rather suggest to assemble
> a booz2 IMU (http://poinix.org/images/imu_v1_1.jpg) - CAD files are
> available in the paparazzi4 svn at savannah (
> paparazzi4/trunk/hw/booz/)
> The biggest problem beeing soldering the BGAs gyros.
>
> > This should allow to be able to fly my quadrotor and start to use PPZ while
> > waiting the Booz2 hardware to be available and PPZ software to be available.
>
> Software is available in the savannah svn. Navigation is even there,
> the performances is just not completely satisfying. The stabilisation
> and vertical guidance have satisfying performances
>
> http://poinix.org/video/booz2_step_roll.avi
> http://poinix.org/video/booz2_vert_ctl_v0.2_mass_2.mp4
>
>
> Regards
>
> Poine
>
>
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