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[Paparazzi-devel] Arduimu_basic updates and more

From: Gautier Hattenberger
Subject: [Paparazzi-devel] Arduimu_basic updates and more
Date: Wed, 17 Aug 2011 16:08:34 +0200
User-agent: Mozilla/5.0 (X11; U; Linux i686; en-US; rv: Gecko/20110516 Thunderbird/3.1.10

Dear all,

The "ins_arduimu_basic" firmware and the related paparazzi module have been updated in the master branch.
This should fix a bug concerning the gps data format sent to the arduimu.
The other important change is the air/ground start mechanism. Now, the arduimu always reads the values stored in the eeprom (gyro and accel neutrals). The calibration is triggered by the autopilot (can be controlled by a setting from the GCS or by the flight plan for example). The main advantage is that the arduimu board is flashed only once. This calibration is only possible if the speed is low enough to prevent in-flight recalibration. The setting file to add is "ins_arduimu_basic.xml" in conf/settings. It provides the ins_neutral_roll and _pitch, and the calibration flag. If you are using this code, take care to have a matching firmware/module (re-flash the arduimu with the latest arduimu_basic firmware if you've just updated to latest master). Please report any trouble with this new code. It will be the last updates probably, as arduimu is not produced anymore.

With the aim of replacing them, we are developing two new boards (Umarim and NavGo) for our specific applications. They are small autopilots based on lpc2148 and integrating IMU parts (itg3200, adxl345 and hmc5883, just to be original...) without GPS, designed for small fixedwing and quadrotors uavs. First prototypes have been build and a first version will be published (probably by the end of September) after some debugging and testing. If you ask, it doesn't do more than the Lisa/M, it just matches our needs and it gives some work to our electronic guys... Some drivers have been wrote for the IMU part. It factorized some of the code already used for aspirin and ppz_imu. It allows to configure the sensors to use with i2c without interrupts handling for now. These drivers could probably be improved and used for the other IMUs.

Gautier Hattenberger
for ENAC UAV Lab

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