Re: [Paparazzi-devel] Connecting the xsens IMU to the Tiny

[Andreas Gaeb]

Hi Gautier,

Gautier Hattenberger schrieb:
> If you want to use it anyway, activate the modules with the flag
> -DUSE_MODULES and load the module with :
> <modules>
>  <load name="ins_xsens.xml"/>
> </modules>
> (if you have an MTiG on uart0 at 115200, try ins_xsens_MTiG_Uart0.xml)
> I have not fully tested that, so please report if you have bugs.
I tried it this way, and it seems to work basically. However, to avoid
again getting stuck directly after flashing, I had to move the call to
modules_init() further upward in init_ap(), at least before the
spi_init(). I still don't understand this behaviour completely, as the
timespan between turning power on and actually uploading seems to have
an effect as well. Could be about the Xsens's WakeUpAck message, but I
don't see this being sent anywhere.

Some things I found in ins_xsens_MTiG_Uart0.xml on the way:
* gps_xsens.c (which could possibly be moved to modules/ins/), gps.c and
latlong.c have to be added to the sources as well
* UART0_BAUD must be B115200, not 115200
* period for the periodic task must be at least 0.017

Regards,
        Andreas