Hello,
The filter and control running on rotorcraft is only using fixed point,
so you have to convert the value you receive them from the imu.
You can use the conversion macros in math/pprz_algebra.h (for example
EULERS_BFP_OF_REAL to convert from float to int with respect of the
resolution).
Gautier
Le 17/11/2010 00:32, Matthew Plymale a écrit :
Hello all, this is my first post.
I am trying to interface the Vectornav VN-100 IMU into Paparazzi. (It
is listed on the paparazzi wiki as "more info coming soon".) One thing
that has me stumped is that the VN-100 sends back all of its gyro, mag
and accel data in IEEE754 floating point numbers. While Paparazzi has
defined an ImuFloat struct and an imu_float_init, it doesn't seem that
they are being used in main.c (For the record my team is building a
quadrotor, so we are using the rotorcraft firmware). Can anybody point
me to an effective means of getting Paparazzi to use the ImuFloat data
instead of Imu? That means having main.c call imu_float_init instead of
imu_init.
I will make an account on the wiki soon and post my other findings with
the VN-100. Hopefully I can contribute something because the embedded
firmware library that comes with this particular IMU is very well
documented, and pretty straightforward to use. (Though the chip itself
is rather pricy at $800 a pop)
Many thanks
--
Matthew Plymale, Concordia University, Canada
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