ImuCalibration/Gyroscopes
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Turntable Procedure
Hardware
Pictures
Turntable rig
IMU cradle view 1.0
IMU cradle view 1.1
Encoder mount base
Olimex LPC H2148
Omron rotary encoder
Components
- audio-technica AT-LP120_USB Direct Drive Professional Turntable
- Olimex LPC H2148
- Omron rotary encoder
- Lisa/L+IMU, Xbee 2.4Ghz modem set, fibreglass mounting plates and general wiring components
Wiring
Encoder to LPC
- Black (common) to EXT2 GND
- Red 5~12 VDC to EXT2 Vin(5v)
- White OUTA to EXT1 PO.22
LPC to LPC
- EXT2 3.3v to EXT1 PO.22 (pull up resistor)
Software
LPC Code Modifications
In case of USB 2.0 A-B cable operation, ~/conf/airframes/Poine/turntable.xml has to be amended, as follows, and saved as ~/turntable_dev_usb.xml:
| File: conf/airframes/Poine/turntable_dev_usb.xml |
main.CFLAGS += -DUSE_USB_SERIAL main.srcs += $(SRC_ARCH)/usb_ser_hw.c main.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c main.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS #main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 #main.srcs += mcu_periph/uart.c #main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c #main.CFLAGS += -DMB_TACHO #main.srcs += $(MB)/mb_tacho.c </makefile> </airframe> |
A new turntable session has to be added to ~/conf/control_panel.xml:
| File: conf/control_panel.xml |
<session name="Flight with USB-serial_TT modem">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyACM0"/>
<arg flag="-nouplink" constant=""/>
<arg flag="-s" constant="115200"/>
</program>
<program name="Server"/>
<program name="GCS"/>
</session>
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