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arduimu fixes

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This commit is contained in:
Martin Mueller
2010-10-23 22:32:01 +00:00
parent 7fdb0356f5
commit 743a6af7ac
2 changed files with 18 additions and 15 deletions
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sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/ReadMe_and-HowTo
+15 -12
View File
@@ -20,27 +20,30 @@ airframe adjustments:
conf/airframes: "MyAirframe.xml"
1) insert the module:
<modules>
<load name="ArduIMU.xml"/>
<load name="ins_arduimu.xml"/>
</modules>
2) activate "i2c" and "modules" :
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
ap.CFLAGS += -DUSE_MODULES
2) activate "i2c":
<target name="ap" board="...">
...
<define name="USE_I2C0"/>
<subsystem name="i2c"/>
Copy the Modules and other Data
´´´´´´´´´´´´´´´´´´´´´´´´´´´´´´´´´
conf/modules: "ArduIMU.xml"
3) Copy "ArduIMU.xml" into the directory "conf/modules/"
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
sw/airborne/modules/: "ArduIMU"
4) Copy the directory "ArduIMU" into the directory "sw/airborne/modules/"
Flash the ArduImu
´´´´´´´´´´´´´´´´´´
5) Flash the ArduImu with the adapted Software. For Information concernig
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
sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_UBLOX.pde
+3 -3
View File
@@ -119,7 +119,7 @@ void parse_ubx_gps(){
if (ground_speed > SPEEDFILT && gpsFix==0) gc_offset = ground_course - ToDeg(yaw);
recPakOne=0x00;
//messageNr= 0x05; // kommt so nicht mehr in die Abfage !!!
#if 0
// Serial.print("Time von Arduino ;");
// Serial.print(millis());
Serial.print("MesageNr: ");
@@ -144,7 +144,7 @@ void parse_ubx_gps(){
Serial.print(ecefVZ);
Serial.print("; numSV ;");
Serial.println((int)(numSV));
#endif
}
@@ -174,4 +174,4 @@ void checksum(byte ubx_data)
}
#endif
#endif