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Re: [Paparazzi-devel] IMU and I2C

From: limaiem imed
Subject: Re: [Paparazzi-devel] IMU and I2C
Date: Tue, 27 Nov 2012 22:04:02 +0100

Thank Eduardo,

Your explanation is clear and now I understand well how it works

For information I am flying fixed wing.



On Mon, Nov 26, 2012 at 12:32 AM, Eduardo lavratti <address@hidden> wrote:
First of all ...
you use the paparazzi on plane or rotorcraft ?

on yapa you can use mpu60x0 + bmp085 on i2c bus without problem.
the board with bmp180 + hmc5883 + mpu60x00 connect all i2c pins together.
The driver is the paparazzi code that control the sensors so you need a driver that control the mpu + bmp180.
this driver not exist.

I sugest that you order a know IMU taht already a driver.
Take care about mpu60x00 + magnetometer because some IMU board have HMC connected directly to MPU6000 so the driver is little diferent.

i already write a driver to use MPU6000 + hmc5883 + ms5611 with hmc connected directly to mpu6000.


Date: Sun, 25 Nov 2012 20:41:10 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] IMU and I2C

thank you for this answer.

so if we took the lpc2148 processor and the YAPA 2 board.

I can use MPU6050 sensor on the I2C connector and if I will not be able to use the barometric sensor BMP085 since it needs an I2C connector too ?

Should I understand that the  lpc2148 processor will better work with MPU6000 on SPI and BMP085 on I2C ?

another example, some IMUs boards have BMP180 + HMC5883L + MPU6050 sensors and one unique I2C output. Do I need a driver for this specific board ? or do I need 3 separate drives (one for each sensor ?)

If I plug it to the lpc2148 processor board let's say YAPA will it work ? (assuming I have separately the driver for each one of the sensors ?)
Thanks you for your answer.


On Sun, Nov 25, 2012 at 11:42 AM, Prof. Dr.-Ing. Heinrich Warmers <address@hidden> wrote:
Dear Imed LIMAIEM,
its differ from the processor type.
Currently i have the MPU6000 (spi)  and MPU6050 (i2c  drotek modules  )   in combination with processor (lpc2148)   i2c barometer (bmp085) and magnetometer running for the LPC2148 for fixed wing and multirotor (MPU6000 spi). It is difficult to hold the 500 Hz for multirotor with the MPU6050.
The base for the MPU6000 driver is the aspirin driver with a new spi interfasce for the spi  interface of the  lpc2148.
For fixed wing (60Hz) the driver aspirin2_i2c works fine with drotek modules.
I will send a push request soon.
It would be nice if we split the asperin driver in 2 parts. One for imu data  and a secound for additonal  i2c  sensors magnetometer and  barometer.


Heinrich Warmers

limaiem imed schrieb:
Hi all,

I have one simple question.

I see lot of IMU in the market with many combination of sensors (MPU60XX, Barometers ... Magnetometers ...) and many drivers been written for each sensor and each AP architecture with the following combinations:


My question is: Is PPZ code able to recognize each combination ? I mean if I plug an IMU in the I2C port and define well this my airframe code will it work ? or should I modify the drives and so ... ?



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