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Re: [Paparazzi-devel] IMU calibration

From: David Conger
Subject: Re: [Paparazzi-devel] IMU calibration
Date: Wed, 20 Apr 2011 10:36:27 -0700

It depends on the IMU but if it's a Booz IMU I run the script 
against a logfile created with the raw data messages as Antoine pointed out. It 
is a great script that outputs all you need. You copy/paste the output into 
your airframe file in the appropriate place (pretty obvious when you see the 
output). :)

I'm still learning but will need to do this soon. I had 15 more Booz Main 
assembled (started last October it's a slow process getting the right BOM parts 
and getting everything to the assembly company etc...) ... so I'll be 
calibrating at least 5 for myself soon. I promise to video it when I do. I have 
had the same pain as others with Git in that SVN just worked and with Git I'm 
not sure I'm getting the latest working code with what I need in it. I may use 
an older paparazzi3 SVN I have saved to do it. 

Also for MAG calibration I'm told you want to orient the IMU towards N and then 
rotate it around the axis for the best logfile possible. To train it what the 
IMU senses vs true orientations in space....that's what the logfile and script 
will calculate for you for your airframe file. 

-David C.
On Apr 20, 2011, at 3:47 AM, David Carlson wrote:

> I'm trying to get an IMU working with Lisa.  Calibration seems to involve 
> running a python script, but details are a bit scarce.
> First it says to switch to "raw sensors" telemetry mode.  I don't see a raw 
> sensors telemetry file.  How do I switch to that telemetry mode?
> Second, the page ( the 
> calibration says to run with "sw/tools/calibration/ -i 
> <your_ac_id> -s ACCEL <path_to_data_file>"  What data file?
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