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Re: [Paparazzi-devel] DCM AHRS help


From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] DCM AHRS help
Date: Wed, 9 Nov 2011 16:56:27 +0100

With just this one RAW value I can't say anything. The raw values need to be logged for calibration but to check calibration you should read the calibrated IMU_GYR IMU_ACC IMU_MAG values.

upside up the imu_acc_z should be -9.81, and upside down 9.81 etc...



On Tuesday, November 8, 2011, Blake Chambers wrote:
Looking at the Messages for the "IMU_ACCEL_RAW" the "int32 az (adc)" value hovers around -260, which I'm guessing means it has not been calibrated.

I was looking over the ImuCalibration page, but it looked like it was for rotorcraft.  Can I use the calibration scripts suggested on this page for a fixedwing IMU?  Are there other ways to manually calibrate the three components I am using (l3g4200, adxl345, and hmc5843)?

Respectfully,

Blake J. W. Chambers
MIT '13 Aero/Astro Department
Phi Kappa Theta
Phone: (719) 387-1489



On Mon, Nov 7, 2011 at 3:03 PM, Christophe De Wagter <address@hidden> wrote:
Dear Blake,

How did you calibrate your IMU? Did you look at the messages to see if your accelerometer and gyro's are looking correct (accelerometers should measure -9.81 m/s2).

Choosing another ahrs filter will give the same problems if your calibration is not good enough. 

You can also select "Raw Data" option in the GCS Ap-Telemetry-Mode (http://paparazzi.enac.fr/wiki/GCS#Settings)and look at the raw measurements and log them.

-Christophe 



On Mon, Nov 7, 2011 at 12:52 AM, Blake Chambers <address@hidden> wrote:
Hello,

I am having some issues with the DCM AHRS setup for the PPZUAV IMU.   The attitude value will not increase past + or - 10deg no matter how I hold the autopilot.  

It might be important to note that I have edited the PPZUAV setup to use a l3g4200 gyro instead of the itg3200.

Can someone advice me on how to configure the ahrs correctly?

As a side note, are there any other imu filtering options?

Thank you.

Respectfully,

Blake J. W. Chambers
MIT '13 Aero/Astro Department
Phi Kappa Theta
Phone: (719) 387-1489


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--
-Christophe 


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