Subsystem/imu

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Currently possible IMU subsystems are

  • "aspirin"
  • "b2_v1.0"
  • "b2_v1.1"
  • "b2_v1.2"
  • "crista"
  • "analog"
  • "ppzuav"

Other IMUs can be used through modules or you can just add a subsystem makefile for your own. Also see the IMU calibration page.

File: conf/airframes/myplane.xml
  <firmware name="rotorcraft">
    <target name="ap" 		board="booz_1.0"/>
     ...
    <subsystem name="imu"       type="b2_v1.0"/>
  </firmware>

Paparazzi has a parameter to define the orientation of the IMU with respect to the body of the vehicle:

File: conf/airframes/myplane.xml
    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 0. )"/>
    <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 0. )"/>