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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>>
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>>
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>>
>
>
>
> --
> Thanks and Regards
> R.Guruganesh
>
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