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Re: [Paparazzi-devel] IMU's

From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] IMU's
Date: Tue, 09 Aug 2011 10:31:35 +0200
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)

Hi Martin,
Tanks for posting the work with the ITG3200/adxl345 IMU.
It would be great if Christophe De Wagter can make same holes to his PCB to mount the IMU direct to the YAPA autopilot pcb. Also there is only one additional wire to open the second I2C port of the LPC2148 for the TWOG and YAPA The use of the second I2C port by a soldering pad would be great. But this impossible to do for me, since i have not the same pcb router program. I want to test the Bosch BMA180 acceleration sensor. This sensor has an excellent calibration and 2 bit more resolution compared with the ADXL345 in the 1g range. For the funjet we run the DCM with the same rate as the feedback control system (25Hz) without any problems.


Martin Mueller schrieb:


the DIYDrones store confirmed that they stopped making the "ArduIMU V2 (flat)" as some electronic parts are no longer available. We have done around 350 flights in various campaigns this summer and were happy so far...although it is (relatively) expensive, bulky and a hassle to program/debug.

We used a version from before the gps framework change [1]. Is anyone actually flying the ArduIMU with the current master branch? There is a bug in the modules gps ground_course calculation that should affect both arduimu and arduimu_basic. The planes flight direction and heading will not be the same/correct in gcs and the yaw correction won't work.

With the non-availability in mind we directly compared the ArduIMU (non basic) with an ITG3200/ADXL345 IMU [2] using imu_ppzuav.xml/ahrs=dcm in a Funjet this weekend. The IMU worked out of the box (in 120Hz), it just needs a little tuning in the airframe file.

Besides the ITG3200 there is the IMU3000 [3] that could be chained with the ADXL345 to help reduce the I2C traffic [4]. It would be great to configure the slight board differences rather than #ifdef'ing or doing copy and paste on the source code for each IMU design.



On 08.08.2011 15:56, Ensslin Oliver (enso) wrote:

Hi All

I beleive the ArduIMU+ V2 has been discontinued. As we fly our UMARS
(with Tiny 2.11) with this IMU and several “student planes” I am
thinking of changing to another IMU.

What would be your recommendation?

How do the other IMU’s compare with the ArduIMU? (for fixed wing)

Would the Aspirin IMU be appropriate for the replacement?

How is the vibration tolerance for Aspirin?

I would be thankful if you would tell me your experience.



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