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Re: [Paparazzi-devel] Rotorcraft Vectornav VN100

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Rotorcraft Vectornav VN100
Date: Mon, 26 Nov 2012 23:18:51 +0100
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/17.0 Thunderbird/17.0

Hello Noah,

The vn100 driver is pretty old, and I don't think we'll make the effort to have it running in rotorcraft code in the stable branches (v4.0 and v4.1).
In the master development branch, it has to be converted to the new spi driver. With this, it will be compatible with fixedwing and rotorcraft firmwares, and lpc and stm32 boards. But it is not a priority, so you're welcome to submit a patch for this. AHRS code using this spi driver can be found in sw/airborne/subsystems/ahrs/


Le 23/11/2012 01:52, Noah Martin a écrit :
Hi everyone,
Is it possible, for rotorcraft, to change a aspirin imu with the VN100 AHRS ?
Reading the mailing list and google, we see that the VN100 has a
200hz output rate which is slow, I think, for quadrotor. But, in this quadrototr project (see please:, Felipe Jaramillo used a vectornav VN100. Matthew Plymale discusses by the use of  a vectornac ahrs with the booz platform, but I don't know if he finished his project successfully or not( / User: Aluminus).

In \sw\airborne\ modules\ ins, we have fw_ins_vn100.c for fixed wing. it is easily adaptable for rotorcraft?


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