Subsystem/imu

Subsystems

Subsystem/actuators

Subsystem/ahrs

Subsystem/gps

Subsystem/imu

Subsystem/ins

Subsystem/stabilization

Subsystem/telemetry

Subsystems

Currently possible InertialMeasurementUnit subsystems are

type	architectures	firmwares	defaults1	notes
analog	all	all	no
apogee	stm32f4	all	yes	mounted on the Apogee autpilot board
aspirin_v1.0	all	all	yes	AspirinIMU via SPI with DMA
aspirin_v1.5	all	all	yes	AspirinIMU via SPI with DMA
aspirin_v2.1	all	all	yes	AspirinIMU via SPI with DMA
aspirin_v2.2	all	all	yes	AspirinIMU via SPI with DMA
aspirin_i2c_v1.0	all	all	yes	AspirinIMU via I2C
aspirin_i2c_v1.5	all	all	yes	AspirinIMU via I2C
aspirin2_i2c	all	all	no	AspirinIMU v2 via I2C
b2_v1.0	all	all	no
b2_v1.1	all	all	no
b2_v1.2	all	all	no
drotek_10dof_v2	all	all	yes	Drotek IMU board with MPU6050, HMC5883 and MS5611(baro is not used)
gl1	all	all	yes	I2C IMU with L3G4200, ADXL345, HMC5883 and BMP085 from GoodLuckBuy
krooz_sd	stm32f4	all	yes	mounted on the KroozSD autopilot board
navgo	lpc21	all	yes	mounted on the NavGo autpilot board
umarim	lpc21	all	yes	mounted on the Umarim autpilot board
yai			no
crista			no
crista_hmc5843			no
ppzuav	lpc21	fw	no

1. Has default GYRO_x and ACCEL_x values from datasheet.

Add the imu subsystem with the appropriate type to your firmware section:

File: conf/airframes/myplane.xml

<firmware name="fixedwing or rotorcraft"> ... <subsystem name="imu" type="aspirin_v2.1"/> </firmware>

Other IMUs can be used through modules or you can just add a subsystem makefile for your own.

Defining the calibration

In the IMU section the IMU calibration is defined.
Some IMUs (see table above) have defaults defined. You may leave out the GYRO_x and ACCEL_x defines to use the datasheet values.

Magnetometer

The magnetometer always needs to be calibrated (Unless you want to disable it).
Here is a resulting minimal example:

File: conf/airframes/myplane.xml

<section name="IMU" prefix="IMU_"> <define name="MAG_X_SENS" value="3.17378921476" integer="16"/> <define name="MAG_Y_SENS" value="3.14663275967" integer="16"/> <define name="MAG_Z_SENS" value="3.26531022727" integer="16"/> <define name="MAG_X_NEUTRAL" value="2059"/> <define name="MAG_Y_NEUTRAL" value="1944"/> <define name="MAG_Z_NEUTRAL" value="2099"/> </section>

45deg Mag hack

If your magnetometer axes are rotated by 45deg around z. (e.g. with external mag on booz imu v1.0)

File: conf/airframes/myplane.xml

<section name="IMU" prefix="IMU_"> ... <define name="MAG_45_HACK" value="1" /> <!--define name="MAG_X_SENS" value="5.14821844457 * sqrt(2)/2" integer="16"/--> <!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" integer="16"/--> <define name="MAG_X_SENS" value="3.640340173" integer="16"/> <define name="MAG_Y_SENS" value="3.619044324" integer="16"/> <define name="MAG_Z_SENS" value="5.07618333556" integer="16"/> </section>

Gyro and Accel

See the ImuCalibration page for the actual calibration instructions. Defining them will override any defaults.

File: conf/airframes/myplane.xml

<section name="IMU" prefix="IMU_"> <define name="GYRO_P_NEUTRAL" value="32362" /> <define name="GYRO_Q_NEUTRAL" value="32080" /> <define name="GYRO_R_NEUTRAL" value="32096" /> <define name="GYRO_P_SENS" value="1.1032765" integer="16" /> <define name="GYRO_Q_SENS" value="1.1360802599" integer="16" /> <define name="GYRO_R_SENS" value="1.1249874614" integer="16" /> <define name="ACCEL_X_SENS" value="2.45932966" integer="16"/> <define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/> <define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/> <define name="ACCEL_X_NEUTRAL" value="31886"/> <define name="ACCEL_Y_NEUTRAL" value="32162"/> <define name="ACCEL_Z_NEUTRAL" value="32941"/> ... </section>

Defining the orientation of the IMU

Paparazzi has parameters to define the orientation of the IMU with respect to the body of the vehicle.

Important Not all algorithms properly deal with any BODY_TO_IMU orientation. See the notes for the respective implementation at Subsystem/ahrs and the issue on github. For the algorithms not supporting that, the only way to properly deal with 90deg rotations is to just change the sensors channels (e.g. so that what are normally the x-axis gyros and accels become the y-axis sensors, etc.)

Not defining these values is the same as setting them to zero.

File: conf/airframes/myplane.xml

<section name="IMU" prefix="IMU_"> ... <define name="BODY_TO_IMU_PHI" value="0.0" unit="deg"/> <define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/> <define name="BODY_TO_IMU_PSI" value="0.0" unit="deg"/> </section>

Note: Angles are always defined in radians, but by setting unit="deg" you can define them in degrees and they are automatically converted to rad.

• The positive 90 degree offset, parallel mount example:

Configured as:

File: conf/airframes/myplane.xml

<section name="IMU" prefix="IMU_"> ... <define name="BODY_TO_IMU_PHI" value="0.0" unit="deg"/> <define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/> <define name="BODY_TO_IMU_PSI" value="90.0" unit="deg"/> </section>

In Flight Tuning

• Switch to AHRS telemetry mode and look for the fields that are prefixed with imu_

90 degree positive offset example

• Open a Real_time plotter from the paparazzi console tools tab and drag int32 body_phi and int32 body_theta into the plotter box.

• Hover rotorcraft (preferably indoors) to record data.

• Copy the (best fit) recorded values into the airframe BODY_TO_IMU defines:

File: conf/airframes/myplane.xml

<define name="BODY_TO_IMU_PHI" value="1.5" unit="deg"/> <define name="BODY_TO_IMU_THETA" value="-0.5" unit="deg"/> <define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>

• Ignore 'on the ground' resting values as depicted in the above image. They will change once the vehicle is in flight. The aim is to get the 'in flight' values of "int32 body_phi" & "int32 body_theta" as close to zero as possible.