Difference between revisions of "ArduIMU"
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[[Image:Tiny13wIMU_001.jpg|thumb|left|Tiny13 w/IMU]] | [[Image:Tiny13wIMU_001.jpg|thumb|left|Tiny13 w/IMU]] | ||
This page describes how to integrate an [http://code.google.com/p/ardu-imu/wiki/HomePage?tm=6 ArduIMU+ V2 (flat)] into an existing Airframe/Paparazzi-Code. | This page describes how to integrate an [http://code.google.com/p/ardu-imu/wiki/HomePage?tm=6 ArduIMU+ V2 (flat)] into an existing Airframe/Paparazzi-Code. | ||
#The ArduIMU communicates over | #The ArduIMU communicates over i2c with the Paparazzi-AP. The wiring is pretty easy to do. Connect SDA, SCL, ground and supply the IMU with 5V. Do not connect 3.3V from the Paparazzi-AP to the ArduIMU as it internally generates it's own stable 3.3v supply. | ||
#Integration into the Paparazzi software is realized as a module. This is an easy way to connect and test | #Integration into the Paparazzi software is realized as a module. This is an easy way to connect and test the software. | ||
#This description shows how to use the ArduIMU without a separate GPS-Receiver and without a Compass/Magnetometer. The GPS-Data is sent by the Paparazzi-AP over | #This description shows how to use the ArduIMU without a separate GPS-Receiver and without a Compass/Magnetometer. The GPS-Data is sent by the Paparazzi-AP over i2c to the ArduIMU. | ||
#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. | ||
== Airframe Adjustments == | == Airframe Adjustments == | ||
conf/airframes: "MyAirframe.xml" | conf/airframes: "MyAirframe.xml" | ||
* (1) Insert the module: | * (1) '''Insert''' the module: | ||
<modules> | <modules> | ||
<load name="ins_arduimu.xml"/> | <load name="ins_arduimu.xml"/> | ||
| Line 23: | Line 24: | ||
<subsystem name="i2c"/> | <subsystem name="i2c"/> | ||
* (3) | * (3) '''Insert''' INS neutrals | ||
<section name="INS" prefix="INS_"> | <section name="INS" prefix="INS_"> | ||
| Line 30: | Line 31: | ||
</section> | </section> | ||
* (4) Use "Settings" file: settings/tuning_ins.xml | * (4) Use this "Settings" file: settings/tuning_ins.xml | ||
* (5) '''Remove''' the infrared estimation | * (5) '''Remove''' the infrared estimation | ||
| Line 39: | Line 40: | ||
== Flash the ArduIMU == | == Flash the ArduIMU == | ||
* (6) Flash the ArduIMU with the adapted software in '''sw/airborne/firmwares/helper/arduimu_Firmware_WithGps'''. For information concerning flashing of the ArduIMU, read: | * (6) Flash the ArduIMU with the adapted software in '''sw/airborne/firmwares/helper/arduimu_Firmware_WithGps'''. For information concerning flashing of the ArduIMU, read: http://code.google.com/p/ardu-imu/wiki/Code | ||
You can find the original ZHAW code [https://home.zhaw.ch/~schmiemi/Arduimu4Paprazzi.rar here]. | |||
So far, this setup has been successfully flown in the EasyStar, Merlin & Funjet aircrafts. | So far, this setup has been successfully flown in the EasyStar, Merlin & Funjet aircrafts. | ||
Have Fun ! | Have Fun ! | ||
Revision as of 15:19, 10 November 2010
This page describes how to integrate an ArduIMU+ V2 (flat) into an existing Airframe/Paparazzi-Code.
- The ArduIMU communicates over i2c with the Paparazzi-AP. The wiring is pretty easy to do. Connect SDA, SCL, ground and supply the IMU with 5V. Do not connect 3.3V from the Paparazzi-AP to the ArduIMU as it internally generates it's own stable 3.3v supply.
- Integration into the Paparazzi software is realized as a module. This is an easy way to connect and test the software.
- This description shows how to use the ArduIMU without a separate GPS-Receiver and without a Compass/Magnetometer. The GPS-Data is sent by the Paparazzi-AP over i2c to the ArduIMU.
- 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.
Airframe Adjustments
conf/airframes: "MyAirframe.xml"
- (1) Insert the module:
<modules> <load name="ins_arduimu.xml"/> </modules>
- (2) Activate "i2c"
<target name="ap" board="...">
...
<define name="USE_I2C0"/>
</target>
<subsystem name="i2c"/>
- (3) Insert INS neutrals
<section name="INS" prefix="INS_"> <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/> </section>
- (4) Use this "Settings" file: settings/tuning_ins.xml
- (5) Remove the infrared estimation
remove this: <subsystem name="attitude" type="infrared"/>
Flash the ArduIMU
- (6) Flash the ArduIMU with the adapted software in sw/airborne/firmwares/helper/arduimu_Firmware_WithGps. For information concerning flashing of the ArduIMU, read: http://code.google.com/p/ardu-imu/wiki/Code
You can find the original ZHAW code here.
So far, this setup has been successfully flown in the EasyStar, Merlin & Funjet aircrafts.
Have Fun !