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

[Bernard Davison]

Thanks for the correction Antoine. :-)
I'll update my airframe.

Cheers,
Bernie.

On 04/10/2011, at 12:03 PM, antoine drouin wrote:

> I disagree about using signs to describe the orientation of the IMU -
> signs should only reflect the way sensors are mounted on a particular
> model of IMU  ( and hence should be hard coded in the specific IMU
> header ) - you want to set the signs so that sensor readings are
> correct with respect to the IMU frame.
> 
> BODY_TO_IMU should be enough to describe the orientation of the IMU
> with respect to the vehicle body
> 
> hth
> 
> Poine
> 
> On Tue, Oct 4, 2011 at 1:16 AM, Bernard Davison <address@hidden> wrote:
>> 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
>>> 
>>> 
>>> 
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> 
>> 
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>> 
> 
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