| Hello Gautier,
Now I understand. You did mention that before but I didn't quite understand. Is the module close to finished?
Since the vn100 outputs orientation I'm assuming the missing function simply reads the vn100 output as attitude information. Do you have something started you can share? It has been years since I wrote C but can certainly debug or test.
I remember that option in the Vectornav software. Thank you. I was a little unclear what "Asynchronous output" was (i.e. the definition of what they meant by it).
-David On Oct 25, 2010, at 2:11 AM, Gautier Hattenberger wrote:
Hello David,
The VN100 module is unfinished, the function that fills the estimator
is still missing.
If you want to turn off the periodic messages, you have to set the
"async data output type register" to 0 (Asynchronous output turned off).
Gautier
Le 23/10/2010 22:05, David Conger a écrit :
Hello,
Thanks to the posts below I have a vn100 connected to the SPI on
the Tiny2.11.
My SVN is version 6208 and I'm going to use the
"conf/airframes/delta_wing_minimal_example.xml" file as a template.
Then add the vn100 and i2c info from the ENAC/fixed-wing/twinjet2.xml
It seems the twinjet2.xml though is using IR for attitude. Is
there a version or suggestions for using the vn100 for attitude for my
testing? I am losing many days flying because IR contrast is not >
40 (fog and light rain).
Additionally: The vn100 works fine on the software given by
VectorNav but I am not able to see in their software a place to do as
you say and "configure manually the VN100 for not sending periodical
messages". Can you share the steps you used to do this?
Thank you,
David
On Jun 10, 2010, at 9:28 AM, Gautier Hattenberger wrote:
Hi,
Reading the values from the sensor works for me (not writing, I don't
know why).
You can have a look at the airframe ENAC/fixed-wing/twinjet2.xml
The flags for SPI are :
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
and do not forget the flag -DUSE_MODULES
The module is not complete yet. One bug I know is the conversion from
quaternion to euler angles. The DRDY is not used, so you should
configure manually the VN100 for not sending periodical messages.
And your wiring looks good !
Gautier
Le 09/06/2010 22:01, Gayan Gamage a écrit :
Hi,
i am trying to integrate a vectornav VN100 AHRS sensor to the paparazzi
board (tiny2) through the SPI port. There is the code inside the
modules/ins folder. I connected the wiring properly (I guess) and
configured the module in the airframe file and added -DUSE_SPI,
_DSPI_MASTER, DUSE_SPI_SLAVE0 too as cflags. But there is no connection
with the sensor. Any help is highly appreciated
(connection)
vectornav VN 100pin -> tiny 2 SPI port pins
Gnd -> Gnd
Vcc->+3.3 V
SPI_CS (SPI SLAVE SELECT) ->SSEL
MOSI -> SPI_MOSI
MISO ->SPI_MISO
SPI clock -> SCK (SPI serial clock)
DR_INT (data ready interrupt.) - > DRDY (external interrupt)
VN 100 sensor layout is at http://www.vectornav.com/Downloads/Support/UM002.pdf
--
Gayan
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