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Re: [Paparazzi-devel] Magnetometer issue.

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Magnetometer issue.
Date: Thu, 29 Sep 2011 08:58:09 +0200

Dear Luiz,

At this moment there are still 3 known issues with lisa+fixedwing+magnetometer combination.

1) The magnetometer code for fixedwing with <subsystem name="ahrs" type="float_dcm" /> is not good yet and the attitude filter becomes easily unstable at higher lattitudes.
2) IMU data might not fit lower modem rates (9600bps) and then messages are dropped which can cause for instance the GCS not to populate while messages do arrive (when ALIVE message fails to find some free bandwidth).
3) Last but not least: the current I2C implementation does not work with all sensor combinations (could e.g. happen when adding magnetometer). It can happen that IMU stops working after a while. A totally new lowlevel driver is in the make to be released as soon as possible but it is a lot of work.


On Thu, Sep 29, 2011 at 2:27 AM, Luiz Flavio Felizardo <address@hidden> wrote:
there is something wierd with my setup and I cant figure it out, anybody would mind to help? :D
 It's something with my magnetometer, I had to comment this line (<define name="USE_MAGNETOMETER" />) cause with the magnetometor up (this line uncommented) the system go crazy and even stop working. I checked the Ivyprobe and the messages log it seems that the system is overloaded with magnetometer information and dont have enough spare link to send or do the other functions. Is there any way to limit the amount of messages the magnetometer sends!? Or, if u dont think thats the problem do you have any ideas?

Lisa/L with IMU Aspirin system. Fixedwing Airframe.

Thanks very much.

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