Re: [Paparazzi-devel] Aspirin and Tiny or Twog for fixedwing

[Felix Ruess]

Hi Guruganesh,

If you are using the dev branch, the defaults are already set in the
imu_aspirin.h header file.
So you can just omit the accel and gyro sens and neutral values in
your airframe file. But to get best results it is recommended to
calibrate the accel neutrals. The gyro neutrals (biases) are estimated
in flight anyway, so you can leave them at the defaults.

Cheers, Felix

On Mon, May 7, 2012 at 3:00 PM, GURUGANESH R <address@hidden> wrote:
> Hi Christophe,
>    I am also using now Aspirin IMU V1.5 for my aircraft. Can you please send
> me the default calibration for the 1.5 version. I am not able to open the
> link what you have sent.
>
> Thanks and Regards
> Guruganesh
>
>
> On Fri, Feb 17, 2012 at 2:35 PM, Christophe De Wagter <address@hidden>
> wrote:
>>
>> We fly several planes with this setup. It is our second-best combination
>> for airplanes at the moment (after the yapa + xsens).
>>
>> Here is a sample airframe (that seems to have the missing signs) and has
>> datasheet default calibrations for the 1.5 version of the aspirin.
>>
>>
>> https://github.com/tudelft/paparazzi/blob/master/conf/airframes/TU_Delft/skywalkerfiber.xml
>>
>>
>> -Christophe
>>
>>
>>
>> On Fri, Feb 17, 2012 at 8:21 AM, Cédric Marzer <address@hidden> wrote:
>>>
>>> Hi all,
>>>
>>> I am trying to use an Aspirin (v1.5) IMU with a twog board on a
>>> fixedwing. There is some information about this combination on the mailing
>>> list and on the wiki but nothing really clear. After reading it all, I am
>>> still not 100% sure that this combination can work. So my first question is
>>> : does someone fly already with this setup ?
>>>
>>>
>>>
>>> From what I understand one has to connect the board through i2c only like
>>> that :
>>>
>>> aspirin-SCK / aspirin-SCL / twog-SCL
>>>
>>> aspirin-mosi / aspirin-SDA / twog -SDA
>>>
>>> aspirin-gnd / aspirin-miso / twog - gnd
>>>
>>> aspirin - CS / twog - 3.3V
>>>
>>> aspirin - 5V ideally to a 5 V linear regulator but it is also possible to
>>> connect it to the 3.3 V with no guarantee
>>>
>>>
>>>
>>> on the software side :
>>>
>>>
>>>
>>> in the airframe code :
>>>
>>>
>>>
>>> <subsystem name="imu" type="aspirin_i2c"/>
>>> <subsystem name="ahrs" type="float_dcm"/>
>>>
>>> <section name="IMU" prefix="IMU_">
>>>
>>>
>>>
>>>     <define name="GYRO_P_NEUTRAL" value="74"/>
>>>
>>>     <define name="GYRO_Q_NEUTRAL" value="-39"/>
>>>
>>>     <define name="GYRO_R_NEUTRAL" value="-60"/>
>>>
>>>     <define name="GYRO_P_SENS" value="4.412" integer="16"/>
>>>
>>>     <define name="GYRO_Q_SENS" value="4.412" integer="16"/>
>>>
>>>     <define name="GYRO_R_SENS" value="4.412" integer="16"/>
>>>
>>>     <define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
>>>
>>>     <define name="GYRO_PR_SENS" value="0.0" integer="16"/>
>>>
>>>     <define name="GYRO_QR_SENS" value="0.0" integer="16"/>
>>>
>>>
>>>
>>>     <define name="ACCEL_X_NEUTRAL" value="12"/>
>>>
>>>     <define name="ACCEL_Y_NEUTRAL" value="1"/>
>>>
>>>     <define name="ACCEL_Z_NEUTRAL" value="-13"/>
>>>
>>>     <define name="ACCEL_X_SENS" value="37.3730252947" integer="16"/>
>>>
>>>     <define name="ACCEL_Y_SENS" value="38.1837066302" integer="16"/>
>>>
>>>     <define name="ACCEL_Z_SENS" value="39.169675633" integer="16"/>
>>>
>>>     <define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
>>>
>>>     <define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
>>>
>>>     <define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
>>>
>>>
>>>
>>>     <define name="MAG_X_NEUTRAL" value="-45"/>
>>>
>>>     <define name="MAG_Y_NEUTRAL" value="35"/>
>>>
>>>     <define name="MAG_Z_NEUTRAL" value="-89"/>
>>>
>>>     <define name="MAG_X_SENS" value="3.8038091533" integer="16"/>
>>>
>>>     <define name="MAG_Y_SENS" value="3.99631626658" integer="16"/>
>>>
>>>     <define name="MAG_Z_SENS" value="3.7728752292" integer="16"/>
>>>
>>>     <define name="MAG_XY_SENS" value="0.0" integer="16"/>
>>>
>>>     <define name="MAG_XZ_SENS" value="0.0" integer="16"/>
>>>
>>>     <define name="MAG_YZ_SENS" value="0.0" integer="16"/>
>>>
>>>
>>>
>>>   </section>
>>>
>>>
>>> Now my problem is that when I compile I get the following values not
>>> being defined :
>>>
>>>
>>>
>>> IMU_GYRO_P_SIGN
>>>
>>> IMU_GYRO_R_SIGN
>>>
>>> IMU_GYRO_Q_SIGN
>>>
>>> IMU_GYRO_X_SIGN
>>>
>>> IMU_GYRO_Y_SIGN
>>>
>>> IMU_GYRO_Z_SIGN
>>>
>>>
>>>
>>> Is it a problem of dev/current version of paparazzi (I am using the
>>> current one) ? Am I missing a step ?
>>>
>>> Thank you for your help
>>>
>>> Cédric
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>
>>
>>
>> _______________________________________________
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>>
>
>
>
> --
> Thanks and Regards
> R.Guruganesh
>
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