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[Paparazzi-devel] re:RazzorIMU
From: |
GARCIA ALVAREZ, ANA |
Subject: |
[Paparazzi-devel] re:RazzorIMU |
Date: |
Thu, 10 Feb 2011 13:40:47 +0100 |
Dear Dr. Warmers,
I have finally installed Oliver's software version. I had a compiling
error related to an AHRS_ALIGNER_led and have solved it after defining
it in the makefile for my board(tiny v2.11).
Now I can see the PFD running, but don't know if it moves in the usual
way. It has a slow rensponse and a little oscillatory.
Ana
-----Original Message-----
From: GARCIA ALVAREZ, ANA
Sent: Thursday, February 10, 2011 10:58
To: 'Prof. Dr.-Ing. Heinrich Warmers'
Subject: RE: RazzorIMU
Dear Dr. Warmers,
I have been looking in this code, although I'll look again. Sorry I'm
asking too much, but am not very experienced in programming and looking
into the code is a bit hard for me.
Ana
-----Original Message-----
From: Prof. Dr.-Ing. Heinrich Warmers [mailto:address@hidden
Sent: Thursday, February 10, 2011 10:51
To: GARCIA ALVAREZ, ANA
Subject: RazzorIMU
Dear ARCIA ALVAREZ,
Please look in the branch
of oliver and crihstoph
http://paparazzi.enac.fr/wiki/User:Christoph
Pleas note that Christop has put the imu in the opposideed direction
compared to Oliver.
Olivers code is running on a tiny and chistorp on a tworg.
Regards Heinrich
Hi Ana, Hi Felix, Hi Heinrich,
the SENS values in hb_tiny_razor.xml airframe file (4096 = 12 Bit) are
only set to reverse the BFP
formating what ist done for rates in RATES_FLOAT_OF_BFP(gyro_float,
imu.gyro); in ahrs_propagate();
/* convert bfp imu data to floating point */
RATES_FLOAT_OF_BFP(gyro_float, imu.gyro); // olri div by (1<<12)
/* unbias rate measurement */
RATES_DIFF(ahrs_float.imu_rate, gyro_float, ahrs_impl.gyro_bias);
The trick to get it work is to scale the values from deg/s to RAD/s,
see the lines below from my ahrs_propagate();.
// scale gyro adc raw to [rad/s] FIXME // olri
ahrs_float.imu_rate.p /= 61.35f;
ahrs_float.imu_rate.q /= 57.96f;
ahrs_float.imu_rate.r /= 60.10f;
The result of the that *must* give closest-by 0.0... rate on silence!
It's at the moment *impossible* to combine these 2 factors,
becourse the bias is substracted between these to steps.
- [Paparazzi-devel] re:RazzorIMU,
GARCIA ALVAREZ, ANA <=