This File describes how to integrate an Arduimu to an existing Airframe/Paparazzi-Code.

	1) The Arduimu communicates over I2C with the Paparazzi-AP. The Wireing ist
		pretty easy to do. Connect SDA, SCL, Ground and provide the IMU with 
		5V.
	2) The integration into the software is realized as a Module. That is an easy way 
		to connect and Test new Software. 
	3) This Guide/Software is made to use the ArduImu without seperate GPS-Reciever 
		and without Compass/Magnetometer. The GPS-Data is sent by the Tiny 2.11 
		over I2C to the IMU.
	4) There is a other Airframe/main-AP we wrote wich uses a Magnetometer for yaw-Drift 
		compensation. We didn't wirte a Installationguide like this yet. But we try to do this 
		as soon as possible. 
		



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"/>

		<subsystem name="i2c"/> 

	3) have 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 settings/tuning_ins.xml



Flash the ArduImu
´´´´´´´´´´´´´´´´´´
	5) Flash the ArduImu with the adapted Software. For Information concerning 
		flashing of the IMU, read: http://code.google.com/p/ardu-imu/wiki/HomePage?tm=6



Have Fun !





