Difference between revisions of "Subsystem/imu"
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{{Box Code|conf/airframes/myplane.xml| | {{Box Code|conf/airframes/myplane.xml| | ||
<pre> | <pre> | ||
<firmware name="rotorcraft" | <firmware name="fixedwing or rotorcraft"> | ||
... | ... | ||
<subsystem name="imu" type=" | <subsystem name="imu" type="aspirin"/> | ||
</firmware> | </firmware> | ||
</pre> | </pre> | ||
Revision as of 06:58, 23 November 2011
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="fixedwing or rotorcraft">
...
<subsystem name="imu" type="aspirin"/>
</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. )"/>
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