Re: [Paparazzi-devel] razor imu

[Felix Ruess]

Hi guys,

I refactored the code further and moved the actual estimation (dcm) to
subsystems/ahrs/ahrs_float_dcm.
This is not merged into master yet, it is currently in the analogimu
branch in the paparazzi repo.
Changes so far:
- better separation of the imu<->ahrs parts
- use calibration data from airframe file for imu (scaling and
neutrals), not so nice to set the accel neutrals at startup
- use ahrs_aligner to get the gyro bias on startup
- use more already available paparazzi algebra makros
Todo (in progress):
- more cleanup
- use magnetometer
- use GPS to compensate for centrifugal acceleration
- also set other attitude representations in the ahrs interface
(quaternions, dcm) only eulers set there so far

Then of course we want to refactor estimator and create a more general
state interface that can be used for rotorcrafts and fixedwings.

Cheers, Felix

On Thu, Dec 9, 2010 at 6:26 PM, Christophe De Wagter <address@hidden> wrote:
> Dear Christoph,
> I integrated the code from your fork into the main paparazzi branch since
> many people seem to ask about it or still use the HB branch. I did make some
> changes though to get it in line with paparazzi, make it more configurable
> (less hardcoded gains in c-files) but I am still working on it.
> Changes so far:
> -merged into paparazzi master (subsystem/imu/imu_analog and
> subsystem/ashr/dcm/)
> -split into an imu (measurements) and an ahrs (attitude) part so other imu
> can be used too
> -removed unused/uncompilable ardiuno code
> -reused paparazzi macro's and math
> -scale/bias are set in airframe file
> -adc's are only configured in airframe file
> Changes in progress:
> -continue the split into ahrs <-> imu
> -rework the initialization part
> -re-enable magnetometer option
> -some DCM theory upgrades to boost performance
> Sincerely,
> -Christophe
>
>
>
> On Wed, Dec 8, 2010 at 10:27 AM, Christoph Niemann
> <address@hidden> wrote:
>>
>> Hi Ana,
>>
>> probably I can try to help you. I currently also use the same IMU with a
>> TWOG. I'm currently integrating the stuff into the current version of
>> Paparazzi (since our HB version is 10 months old) and cleaning it up a
>> little bit. Perhaps you want to do some beta-testing? You can check out my
>> current fork, have a look and try it: https://github.com/chni/paparazzi .
>> There is a airframe using it: TWOG_chni or something like that. If you are
>> expieriencing Problems, let me know so I can fix it.
>>
>> Cheers
>>
>> Christoph
>>
>> Am 07.12.2010 11:11 schrieb "Ana García Álvarez" <address@hidden>:
>>
>> Hello,
>> I have recently purchased a 6dof razor imu. I have read about info in the
>> hb branch, but hav...
>>
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