Re: [Paparazzi-devel] sparkfun 6dof / imu sensor mounting

[Bernard Davison]

Hi Sven,

Changing the orientation is very easily achieved.
From the configuration on this page http://paparazzi.enac.fr/wiki/IMU/SEN-10121 
just change
                <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0)"/>
                <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0)"/>
                <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0)"/>
as required. This is assuming you have it mounted the right way.

If you have it mounted sideways or upside down then you may need to adjust
                <define name="GYRO_P_SIGN" value="1"/>
                <define name="GYRO_Q_SIGN" value="1"/>
                <define name="GYRO_R_SIGN" value="1"/>
and
                <define name="ACCEL_X_SIGN" value="1"/>
                <define name="ACCEL_Y_SIGN" value="1"/>
                <define name="ACCEL_Z_SIGN" value="1"/>


In my airframe I have
                <define name="GYRO_P_SIGN" value="1"/>
                <define name="GYRO_Q_SIGN" value="-1"/>
                <define name="GYRO_R_SIGN" value="-1"/>
                <define name="ACCEL_X_SIGN" value="1"/>
                <define name="ACCEL_Y_SIGN" value="-1"/>
                <define name="ACCEL_Z_SIGN" value="-1"/>
                <define name="BODY_TO_IMU_THETA" value="RadOfDeg(10)"/>
because I have it mounted upside down and back to front…
Once you have it mounted in your airframe and flashed the configuration, check 
the messages and PFD to make sure that changes are reported correctly.

Cheers,
Bernie.

On 03/10/2011, at 7:37 PM, Sven Lorenz wrote:

> Hi,
> 
> I was happy and surprised that the sparkfun 6dof IMU (*) is working 
> "out-of-the-box" with the ppzuav-IMU module. Well done ;-)  
> 
> Is there a way to allow for the mounting position of such a sensor in a 
> "general" way? From the code I can see only hardcoded orientations for 
> aspirin and ppzimu. 
> 
> Cheers!
> Sven
> 
> 
> (*)sparkfun 6dof IMU is a nice and tiny module with ITG3200 and ADXL345 
> connected via I2C
> http://www.sparkfun.com/products/10121
> 
> 
> 
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