Re: [Paparazzi-devel] Add new sensor

[Felix Ruess]

Hi Jimmy,

I don't fully understand your question. Please provide some more details...

You have a sensor connected via UART that gives you heading and you now want to use that to update the AHRS?

What do you already have? Don't quite understand why you added a separate downlink message for that... just for debugging?

There is currently no API do add a generic heading measurement to the AHRS algorithm, you would need to implement one. Which algorithm are you using?

Cheers, Felix

On Wed, Jul 16, 2014 at 6:27 AM, Jimmy <address@hidden> wrote:

Hello everybody,

I was looking forward to add a new sensor to ppz, but I am in trouble.the
output signal is

rs232, and I have a max3232 chip.

The current situation is I have creat a message successfully. However, the
function I added in

the file firmware/fixeding/autopilot.c like this:
static void send_pzg(void) {
  struct FloatEulers* att = stateGetNedToBodyEulers_f();
  DOWNLINK_SEND_PZG(DefaultChannel, DefaultDevice,
      &(att->psi));
};
The PZG message can display.
But I want to know the way of reading the data from the serial port and
using those data to

update the ahrs.

Any help would be greatly appreciated.



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