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Re: [Paparazzi-devel] drotek 10dof v2 imu

From: Felix Ruess
Subject: Re: [Paparazzi-devel] drotek 10dof v2 imu
Date: Thu, 20 Jun 2013 14:17:31 +0200

Hi Chris,

I can only test the mpu60x0_spi version (with mag as slave), which works fine.
Currently don't have a setup to test the i2c version... the version without the mag slave was working fine on the apogee though and we had several flights with it.

Which subsystem and on what paparazzi_version exactly did you test?
Since I don't get any warnings compiling it here on v5.0 or master, could you please post the warnings?

So there were/are some things wrong/missing in the imu_drotek_10_v2 driver (that just uses the mpu60x0 peripheral).
The default configuration of it is currently 1000deg/s and 8g and I just included the header with the default imu sensitivy for 2000deg/s and 16g.
Also i2c_passthrough was probably not enabled and hence the mag not read.
This should be fixed now in the imu_drotek branch and ready to test again...

Hard to debug without the hardware, so I need to count on the community to help out here ;-)

Also as already pointed out, the axes are directly the actual sensor axes, so we probably need to change the mapping for some (at least the mag) so the have the same coordinate system.
Not sure what that is supposed to be on that imu... is it printed on the pcb?

Cheers, Felix

On Thu, Jun 20, 2013 at 8:23 AM, hendrixgr . <address@hidden> wrote:
Hi Felix
I did some tests today and it looks like the new mpu60x0 subsystem does not work as intended.
The artificial horizon does not move at all and the raw accelerator ang gyro values look strange, here are some sample values:
From the Accelerometer (raw values)
ax = -65636
ay = 3018600
az = 720872

And from the gyro (raw again)
gp = -1572818
gq = 10
gr = 0

The magnetometer values are always 0.

I also get some warnings during compile time about mismatched pointer types.

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