Re: [Paparazzi-devel] razor imu

[Felix Ruess]

ah, and I forgot the airframe you can use to test or have a look at is
example_twog_analogimu.xml

On Fri, Dec 10, 2010 at 2:07 AM, Felix Ruess <address@hidden> wrote:
> 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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>>
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>