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

[Andreas Gaeb]

Hello everybody,

we finally got a working setup, at least in the laboratory. The main
change I introduced was a Max232 level converter between MTi-G and Twog.
In the software I had to add some defines and adapt some of the ugear
stuff to Xsens, but there were not so many changes. If anybody is
interested, I'll gather them up and send a patch.

Talking to the Xsens (only done in ins_init()) does not work, so the
Xsens has to be put in the correct output mode beforehand by the MT
Manager software. Also, when the Paparazzi software runs directly after
flashing, the message parser gets stuck. It only works after a power
cycle without upload. I'll look into this further, it could be about
missing delays in ins_init().

So far, so good. I'll keep you informed if there is more progress.

Regards,
        Andreas