ArduIMU - Revision history

Rufus: note about ahrs subsystem for sim

2012-11-01T13:45:05Z

note about ahrs subsystem for sim

← Older revision		Revision as of 07:45, 1 November 2012
Line 55:		Line 55:
	// float throttle_slew;		// float throttle_slew;
	// throttle_slew = V_CTL_THROTTLE_SLEW;		// throttle_slew = V_CTL_THROTTLE_SLEW;

			Also, if you want to be able to run SITL simulations on this airframe, you will need to add an ahrs subsystem to your simulation target:

			<target name="sim" board="pc">
			<subsystem name="ahrs" type="float_dcm"/>
			...
			</target>

	TODO: link to sample working airframe in git		TODO: link to sample working airframe in git

2012-11-01T13:40:45Z

Airframe Adjustments

← Older revision		Revision as of 07:40, 1 November 2012
Line 33:		Line 33:
	</target>		</target>

	If you don't already have it, you will also need to add this to your ap target		If you don't already have it, you will also need to add this to your ap target too:

	<define name="USE_I2C0"/>		<define name="USE_I2C0"/>

2012-11-01T13:40:03Z

Airframe Adjustments

← Older revision		Revision as of 07:40, 1 November 2012
Line 32:		Line 32:
	<define name="I2C0_SCLH" value="400"/> <!-- Default values are 200 and must be the same for both SCLL and SCLH -->		<define name="I2C0_SCLH" value="400"/> <!-- Default values are 200 and must be the same for both SCLL and SCLH -->
	</target>		</target>

			If you don't already have it, you will also need to add this to your ap target

			<define name="USE_I2C0"/>

	* (3) '''Insert''' INS neutrals:		* (3) '''Insert''' INS neutrals:

2011-11-03T14:34:25Z

i2c subsystem is added by default now

← Older revision		Revision as of 08:34, 3 November 2011
Line 25:		Line 25:
	</modules>		</modules>

	* (2) ~~Activate the "i2c" subsystem / peripheral, increase~~ i2c queue length to 16, and reduce i2c clock speed:		* (2) Increase i2c queue length to 16, and reduce i2c clock speed:
	<target name="ap" board="...">		<target name="ap" board="...">
	...		...
	~~<define name="USE_I2C0"/>~~
	~~</target>~~
	~~<subsystem name="i2c">~~
	<define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/> <!-- default is 8 -->		<define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/> <!-- default is 8 -->
	<define name="I2C0_SCLL" value="400"/> <!-- default clock speed 37.5KHz with our 15MHz PCLK I2C0_CLOCK=PCLK/(I2C0_SCLL+I2C0_SCLH) -->		<define name="I2C0_SCLL" value="400"/> <!-- default clock speed 37.5KHz with our 15MHz PCLK I2C0_CLOCK=PCLK/(I2C0_SCLL+I2C0_SCLH) -->
	<define name="I2C0_SCLH" value="400"/> <!-- Default values are 200 and must be the same for both SCLL and SCLH -->		<define name="I2C0_SCLH" value="400"/> <!-- Default values are 200 and must be the same for both SCLL and SCLH -->
	</~~subsystem~~>		</target>

	* (3) '''Insert''' INS neutrals:		* (3) '''Insert''' INS neutrals:

2011-11-03T14:32:53Z

← Older revision		Revision as of 08:32, 3 November 2011
Line 46:		Line 46:

	remove the line that looks like the following:		remove the line that looks like the following:
			<subsystem name="ahrs" type="infrared"/>
			or if you still have the older subsystem
	<subsystem name="attitude" type="infrared"/>		<subsystem name="attitude" type="infrared"/>

2011-07-25T19:58:13Z

Airframe Adjustments

← Older revision		Revision as of 13:58, 25 July 2011
Line 47:		Line 47:
	remove the line that looks like the following:		remove the line that looks like the following:
	<subsystem name="attitude" type="infrared"/>		<subsystem name="attitude" type="infrared"/>

			You may have to comment out the following two lines in the file ../paparazzi/sw/airborne/modules/ins/ins_arduimu.c for the code to compile:

			// float throttle_slew;
			// throttle_slew = V_CTL_THROTTLE_SLEW;

	TODO: link to sample working airframe in git		TODO: link to sample working airframe in git

2011-07-24T06:11:17Z

← Older revision		Revision as of 00:11, 24 July 2011
Line 1:		Line 1:
			[[Image:ArduIMU_xs.JPG\|thumb\|right\|ArduIMU with i2c wires and serial connector]]
	[[Image:Tiny13wIMU_001.jpg\|thumb\|right\|Tiny13 w/IMU]]		[[Image:Tiny13wIMU_001.jpg\|thumb\|right\|Tiny13 w/IMU]]
	[[Image:Ppzfunjetaimu01.jpg\|thumb\|right\|TWOG w/IMU]]		[[Image:Ppzfunjetaimu01.jpg\|thumb\|right\|TWOG w/IMU]]
Line 7:		Line 8:
	#There is an other airframe/main-AP we wrote which uses a magnetometer for yaw-drift compensation. We haven't written an installation guide for this configuration yet. But we will try to do this as soon as possible.		#There is an other airframe/main-AP we wrote which uses a magnetometer for yaw-drift compensation. We haven't written an installation guide for this configuration yet. But we will try to do this as soon as possible.

	The Code has been integrated into the Paparazzi build system.		The Code has been integrated into the Paparazzi build system.
			<br>
			<br>
			<br>
			<br>

	== Airframe Adjustments ==		== Airframe Adjustments ==

2011-07-23T20:44:23Z

Flash the ArduIMU

← Older revision		Revision as of 14:44, 23 July 2011
Line 82:		Line 82:
	(TODO: Using the graphical interface is probably not necessary as the flashing seems to use avrdude command line utility)		(TODO: Using the graphical interface is probably not necessary as the flashing seems to use avrdude command line utility)

	* ~~open~~ project/sketch (File->open , point to paparazzi/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu/arduime.pde)		* Open project/sketch (File->open , point to paparazzi/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu/arduime.pde)

	* ~~clicking~~ "verify" button compiles		* Clicking the "verify" button compiles

	* ~~clicking~~ "upload" button flashes (may need to select your com port in menu Tools->Serial Port)		* Clicking the "upload" button flashes
			** You may need to select your com port in menu Tools->Serial Port
			** You may need to select Atmega328 in menu Tool->Board

	For more information concerning flashing of the ArduIMU, read: http://code.google.com/p/ardu-imu/wiki/Code		For more information concerning flashing of the ArduIMU, read: http://code.google.com/p/ardu-imu/wiki/Code

2011-07-23T18:44:32Z

Flash the ArduIMU

← Older revision		Revision as of 12:44, 23 July 2011
Line 77:		Line 77:
	$ sudo apt-get install arduino		$ sudo apt-get install arduino

	*~~Now launch~~ the Arduino IDE :		*Launch the Arduino IDE using the Dash (in Ubuntu 11.04) or the following command line:
	$ arduino		$ arduino
	[[Image:arduino_open_sketch.png\|thumb]]		[[Image:arduino_open_sketch.png\|thumb]]

2011-07-23T18:39:34Z

Flash the ArduIMU

← Older revision		Revision as of 12:39, 23 July 2011
Line 74:		Line 74:
	*Plug in USB FTDI Cable to PC and ArduIMU (this also provides power)		*Plug in USB FTDI Cable to PC and ArduIMU (this also provides power)

	*~~On ubuntu 10.10 installation of~~ the ~~arduino software is as simple as~~ :		*Install the Arduino IDE using the Ubuntu Software Center or the following command line:
	$ sudo apt-get install arduino		$ sudo apt-get install arduino

	*Now launch the ~~arduino~~ IDE :		*Now launch the Arduino IDE :
	$ arduino		$ arduino
	[[Image:arduino_open_sketch.png\|thumb]]		[[Image:arduino_open_sketch.png\|thumb]]