[Paparazzi-devel] Re: new AHRS and battery monitoring on rotorcraft

[antoine drouin]

oops. I forgot to mention that you need a couple of defines to use the new AHRS

  <section name="AHRS" prefix="AHRS_">
    <define name="PROPAGATE_FREQUENCY" value="512"/>
    <define name="H_X" value=" 0.51562740288882"/>
    <define name="H_Y" value="-0.05707735220832"/>
    <define name="H_Z" value=" 0.85490967783446"/>
  </section>

H is the normalized local magnetic field which can be obtained from

http://ngdc.noaa.gov/geomag/magfield.shtml

example values are for Toulouse

Other flags of interest are
AHRS_PROPAGATE_LOW_PASS_RATES : apply a low pass filter on rotational velocity
AHRS_MAG_UPDATE_YAW_ONLY : use mag to update yaw only

There is a test program ( sw/airborne/test/ahrs/compare_ahrs.py )
which allows to compare different AHRS implementations on simple test
cases.

Regards

Poine


On Wed, Mar 23, 2011 at 3:12 PM, antoine drouin <address@hidden> wrote:
> Hello World
>
> Battery monitoring is now functional on stm32/rotorcraft firmware
> (lisa/M and lisa/L).
>
> I also pushed a new complementary filter AHRS. You can use it by
> replacing the line
>  <subsystem name="ahrs"          type="cmpl"/>
> with
>  <subsystem name="ahrs"          type="ic"/>
> in your airframe.
>
> Regards
>
> Poine
>
> ps: the AHRS should also work on fixedwing, though I still have some
> modifications in main_ap in my tree that are not compatible with those
> made by Christophe. I'll work on that soon.
>