paparazzi-devel
[Top][All Lists]
Advanced

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

Re: [Paparazzi-devel] Yaw from AHRS


From: Loic Drumettaz
Subject: Re: [Paparazzi-devel] Yaw from AHRS
Date: Tue, 1 Nov 2011 09:55:53 +0100

Hi Christophe,

I finally solved the problem. When I was pointing X to the north and 60° down, i had something like [0 0 150]. Y to the same direction: [-150 0 0] and Z, [0 150 0].
So I modified the channels in aspirin.h:

#define IMU_MAG_X_CHAN 2    /* X  in Z */
#define IMU_MAG_Y_CHAN 0    /* Y in X */   
#define IMU_MAG_Z_CHAN 1    /* Z in Y */

And I also modified the sign of Y:

#define IMU_MAG_Y_SIGN    -1

After these modifications the AHRS filter measures correctly the yaw: I don't have any more weird transients. Thank you for your help.
I think I have an aspirin V2.0. I'm surprised that I had to change the code in aspirin.h, there is no other way to do that?


Regards
Loïc





reply via email to

[Prev in Thread] Current Thread [Next in Thread]