[Paparazzi-devel] Aspirin IMU 1.5 x,y swap

[Bruzzlee]

Hi all

I have an Aspirin v1.5 mounted on the LisaM 1.0

If I define
        <subsystem name="imu"           type="aspirin_v1.0"/>
The directions seem to be correct

But if I define
        <subsystem name="imu"           type="aspirin_v1.5"/>

The front of the LisaM points to the right.
With front I define the PFD behaviour.

The Wiki "says": The front of IMU is marked as X axis. Warning! Aspirin 1.5 has x and y silkscreen swapped.
But this seems to wrong for my Aspirin 1.5

What could be the reason?

( BODY_TO_IMU are all set to 0)


I've found those code snippets which affects:

----------- imu_aspirin.c-------

#ifdef IMU_ASPIRIN_VERSION_1_0
    VECT3_COPY(imu.mag_unscaled, imu_aspirin.mag_hmc.data.vect);
#else // aspirin 1.5 with hmc5883
    imu.mag_unscaled.x =  imu_aspirin.mag_hmc.dat
a.vect.y;
    imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x;
    imu.mag_unscaled.z =  imu_aspirin.mag_hmc.data.vect.z;

----------- hmc58xx.c---------

      if (hmc->type == HMC_TYPE_5843) {
        hmc->data.vect.x = Int16FromBuf(hmc->i2c_trans.buf,0);
        hmc->data.vect.y = Int16FromBuf(hmc->i2c_trans.buf,2);
        hmc->data.vect.z = Int16FromBuf(hmc->i2c_trans.buf,4);
<
div class="line" id="LC147">      }
      /* HMC5883 has xzy order of axes in returned data */
      else {
        hmc->data.vect.x = Int16FromBuf(hmc->i2c_trans.buf,0);
        
hmc->data.vect.y = Int16FromBuf(hmc->i2c_trans.buf,4);
        hmc->data.vect.z = Int16FromBuf(hmc->i2c_trans.buf,2);
      }

Thank you Bruzzlee

LisaM.jpg
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