Re: [Paparazzi-devel] Connecting the xsens IMU to the Tiny

[Andre Devitt]

        I can confirm that you can use the tiny211 internal GPS port with an
external IMU. 

        I just grounded the GPS reset pin and use the header to connect to a
MIDG II INS and have not experienced any problems with the MIDG. I had
to write a driver for the MIDG, but I just based it on the code for the
internal GPS.

Andre



On Fri, 2008-12-12 at 16:13 +0100, Gautier Hattenberger wrote:
> If you have a Tiny2, can try to add the flag -DNO_INTERNAL_GPS. It is 
> supposed to set the gps reset to the ground, thus shutting him down. Try 
> it, but I'm not sure it works fine (I've had a problem when this flag 
> was added, but it appears that the problem has nothing to do with this 
> and then I get a Twog and it was useless...).
> Right know, the only way to connect the Xsens is the Uart, sorry.
> 
> Gautier
> 
> Andreas Gäb a écrit :
> > Gautier Hattenberger wrote:
> >   
> >> There is a driver for the Xsens ins in the airborne code but I don't
> >> think anyone ever used it with a fixed wing airframe (it was designed
> >> for quadrotors). The problem for you is to update the estimator the
> >> value of the ins.
> >>     
> > I'll have a look into it. For a start, it will possibly be sufficient to
> > use the position data from the IMU as GPS replacement and query
> > accelerations and angular rates seperately for PID only.
> >
> >   
> >> Anyway, if you want to try it (using a Twog is the best solution right
> >> now in this case), the Xsens can be configured with something like:
> >>
> >>  <section name="XSENS_INS">
> >>    <!-- calibrated, orientation, position, velocity, status -->
> >>    <define name="XSENS_OUTPUT_MODE" value="0x0836"/>
> >>    <!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
> >>    <define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
> >>  </section>
> >>
> >> and in the makefile section (for a Twog):
> >>
> >> # XSens
> >> ap.CFLAGS += -DUSE_UART0 -DINS_LINK=Uart0 -DUART0_BAUD=B115200
> >> ap.srcs += latlong.c gps.c gps_xsens.c ins_xsens.c $(QUAD)/ins_quad.c
> >>     
> >
> > So UART is the only way to connect, no chance for the Tiny?
> >
> >   
> >> I hope this will help you. Let me know if you have problems with this
> >> driver.
> >>     
> > It helps me in selecting the hardware to buy :-). I'll let you know, but
> > most probably not before next year.
> >
> >   
> >> By the way, what is the kind sensor you are using for airspeed. Is it a
> >> commercial product or an home made ?
> >>     
> > The probe itself must have been built at the institute here, but no
> > documentation is left, so nobody knows for sure. The attached sensors
> > are standard SMD pressure sensors.
> >
> > Regards,
> >     Andreas
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >   
> 
> 
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