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Added defaults for px4 imu

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This commit is contained in:
kevindehecker
2016-03-23 14:30:41 +01:00
parent d8cb28390b
commit 5387b8e576
4 changed files with 80 additions and 17 deletions
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conf/airframes/TUDELFT/tudelft_conf.xml
+1 -1
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@@ -116,7 +116,7 @@
radio="radios/FrSky3dr.xml"
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int_quat.xml] settings/control/stabilization_indi.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int_quat.xml] settings/control/stabilization_indi.xml settings/estimation/body_to_imu.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
gui_color="#ffffcccaccca"
/>
conf/airframes/TUDELFT/tudelft_iris_indi.xml
+12 -13
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@@ -97,20 +97,19 @@
</section>
<section name="IMU" prefix="IMU_">
<!-- replace this with your own calibration -->
<define name="ACCEL_X_NEUTRAL" value="274"/>
<define name="ACCEL_Y_NEUTRAL" value="-43"/>
<define name="ACCEL_Z_NEUTRAL" value="1112"/>
<define name="ACCEL_X_SENS" value="0.625515268183" integer="16"/>
<define name="ACCEL_Y_SENS" value="0.609477051286" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.62150684522" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-151"/>
<define name="MAG_Y_NEUTRAL" value="-288"/>
<define name="MAG_Z_NEUTRAL" value="-3949"/>
<define name="MAG_X_SENS" value="0.420984584445" integer="16"/>
<define name="MAG_Y_SENS" value="0.447747800597" integer="16"/>
<define name="MAG_Z_SENS" value="0.431245648647" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="248"/>
<define name="ACCEL_Y_NEUTRAL" value="-21"/>
<define name="ACCEL_Z_NEUTRAL" value="1123"/>
<define name="ACCEL_X_SENS" value="0.62584356013" integer="16"/>
<define name="ACCEL_Y_SENS" value="0.609921478775" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.619923942578" integer="16"/>
<define name="MAG_X_NEUTRAL" value="21"/>
<define name="MAG_Y_NEUTRAL" value="-93"/>
<define name="MAG_Z_NEUTRAL" value="-15"/>
<define name="MAG_X_SENS" value="5.1784060163" integer="16"/>
<define name="MAG_Y_SENS" value="5.55867516912" integer="16"/>
<define name="MAG_Z_SENS" value="5.06809390796" integer="16"/>
</section>
<commands>
<axis name="PITCH" failsafe_value="0" />
sw/airborne/subsystems/imu/imu_px4_defaults.h
+64
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@@ -0,0 +1,64 @@
/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/**
* @file subsystems/imu/imu_px4_defaults.h
* Default sensitivity definitions for the Pixhawk IMU using the l3d20 gyro and lsm303dlc acc.
*/
#ifndef IMU_PX4_DEFAULTS_H
#define IMU_PX4_DEFAULTS_H
#include "generated/airframe.h"
/** default gyro sensitivy and neutral from the datasheet
* L3GD20 has 70e-3 LSB/(deg/s) at 2000deg/s range
* sens = 70e-3 * pi/180 * 2^INT32_RATE_FRAC
* sens = (70e-3 / 180.0f) * pi * 4096
*/
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
#define IMU_GYRO_P_SENS_NUM 5004
#define IMU_GYRO_P_SENS_DEN 1000
#define IMU_GYRO_Q_SENS_NUM 5004
#define IMU_GYRO_Q_SENS_DEN 1000
#define IMU_GYRO_R_SENS_NUM 5004
#define IMU_GYRO_R_SENS_DEN 1000
#endif
/** default accel sensitivy from the datasheet
* LSM303DLHC has 732 LSB/g
* fixed point sens: 9.81 [m/s^2] / 732 [LSB/g] * 2^INT32_ACCEL_FRAC
* sens = 9.81 / 732 * 1024 = 13.72
*/
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
#define IMU_ACCEL_X_SENS 13.723
#define IMU_ACCEL_X_SENS_NUM 13723
#define IMU_ACCEL_X_SENS_DEN 1000
#define IMU_ACCEL_Y_SENS 13.723
#define IMU_ACCEL_Y_SENS_NUM 13723
#define IMU_ACCEL_Y_SENS_DEN 1000
#define IMU_ACCEL_Z_SENS 13.723
#define IMU_ACCEL_Z_SENS_NUM 13723
#define IMU_ACCEL_Z_SENS_DEN 1000
#endif
#endif /* IMU_PX4_DEFAULTS_H */
sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c
+3 -3
View File
@@ -49,7 +49,7 @@ void imu_impl_init(void)
/* LSM303dlhc acc + magneto init */
lsm303dlhc_spi_init(&imu_px4.lsm_acc, &IMU_SPI_DEV, IMU_LSM_SPI_SLAVE_IDX, LSM_TARGET_ACC);
#if MODULE_HMC58XX_UPDATE_AHRS
#if !MODULE_HMC58XX_UPDATE_AHRS
lsm303dlhc_spi_init(&imu_px4.lsm_mag, &IMU_SPI_DEV, IMU_LSM_SPI_SLAVE_IDX, LSM_TARGET_MAG);
#endif
@@ -60,7 +60,7 @@ void imu_periodic(void)
l3gd20_spi_periodic(&imu_px4.l3g);
lsm303dlhc_spi_periodic(&imu_px4.lsm_acc);
#if MODULE_HMC58XX_UPDATE_AHRS
#if !MODULE_HMC58XX_UPDATE_AHRS
/* Read magneto's every 10 times of main freq
* at ~50Hz (main loop for rotorcraft: 512Hz)
*/
@@ -93,7 +93,7 @@ void imu_px4_event(void)
imu_scale_accel(&imu);
AbiSendMsgIMU_ACCEL_INT32(IMU_PX4_ID, now_ts, &imu.accel);
}
#if MODULE_HMC58XX_UPDATE_AHRS
#if !MODULE_HMC58XX_UPDATE_AHRS
lsm303dlhc_spi_event(&imu_px4.lsm_mag);
if (imu_px4.lsm_mag.data_available_mag) {
VECT3_COPY(imu.mag_unscaled, imu_px4.lsm_mag.data_mag.vect);