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Re: [Paparazzi-devel] Yaw from AHRS


From: Felix Ruess
Subject: Re: [Paparazzi-devel] Yaw from AHRS
Date: Wed, 7 Dec 2011 22:52:19 +0100

Hi,

there are now separate aspirin types you can use:
<subsystem name="imu"       type="aspirin_v1.0"/>
or
<subsystem name="imu"       type="aspirin_v1.5"/>
Aspirin 1.5 has the necessary changes for the mag channels and
signs... any other versions that need to be added?

Cheers, Felix

On Tue, Nov 1, 2011 at 10:40 AM, Christophe De Wagter
<address@hidden> wrote:
> I have seen PCB of at least 6 versions of aspirin now... so I lost track but
> I suppose there might be differences.
>
> Can anyone give us an overview, then I am willing to adapt the code.
>
> @Loic: do not forget to define AHRS_H_X H_Y and H_Z to define your local
> magnetic field as long as we do not have this automated using GPS.
>
> -Christophe
>
>
>
> On Tue, Nov 1, 2011 at 9:55 AM, Loic Drumettaz <address@hidden>
> wrote:
>>
>> 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
>>
>>
>>
>>
>>
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>>
>
>
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