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Re: [Paparazzi-devel] ArduIMU

From: Reto Büttner
Subject: Re: [Paparazzi-devel] ArduIMU
Date: Mon, 25 Jul 2011 21:53:01 +0200

Hi all,

I got some feedback from the guys of ZHAW directely:

- The throttle slew can be ommitted.
- The newest code is arduino_basic.pde (cleaned up by Gautier Hattenberger)
- ENABLE_AIR_START 1 should be set to avoid recalibration according to
current random aircraft position when plugging in the battery.

I experience the following drift behaviour:

arduino.pde and ENABLE_AIR_START 0: No drift.
arduino.pde and ENABLE_AIR_START 1: A lot of drift.
arduino_basic.pde and ENABLE_AIR_START 0: A lot of drift.
arduino_basic.pde and ENABLE_AIR_START 1: A lot of drift.

I thought I could avoid the annoying drift by going outside to get
gps. Unfortunately that didn't change anything. Therefore the only
configuration looking good to me is the first one.

Can someone explain the drift depending on different configurations?


2011/7/23 Reto Büttner <address@hidden>:
> Hi guys,
> I followed the wiki ( to put my
> ArduIMU into service. Thanks for the great instructions! I updated the
> wiki with some minor points according to my experience.
> I am using the most current git master repo (no branches). I had to
> comment out the following two lines in the file ins_arduimu.c for the
> code to compile:
> float throttle_slew;
> throttle_slew = V_CTL_THROTTLE_SLEW;
> Has anyone experienced the same?
> Are these lines (the throttle slew) needed?
> Then the ArduIMU works just fine. At least in the lab, the field
> experience is to come :-)
> Where can I get the most recent, proven, stable and sophisticated code
> for the ArduIMU?
> Cheers,
> Reto

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