From b0fafaf87ca90562fc2862e2b1da3f89b98d5b11 Mon Sep 17 00:00:00 2001 From: OSAM-UAV Team Date: Fri, 12 Sep 2008 22:15:00 +0000 Subject: [PATCH] *** empty log message *** --- doc/OSAM_IMU/readme_pprz_osam_imu.txt | 86 +++++++++++++++++++++++++++ 1 file changed, 86 insertions(+) create mode 100644 doc/OSAM_IMU/readme_pprz_osam_imu.txt diff --git a/doc/OSAM_IMU/readme_pprz_osam_imu.txt b/doc/OSAM_IMU/readme_pprz_osam_imu.txt new file mode 100644 index 0000000000..a61b166d05 --- /dev/null +++ b/doc/OSAM_IMU/readme_pprz_osam_imu.txt @@ -0,0 +1,86 @@ +/***************************************************************************************************** +Readme for modified pprz directory for using with gumstix + IMU for fixed wing UAVs +Author: Haiyang Chao +Configuration files in 5 are generated by Daniel Morgan & Haiyang Chao. +*****************************************************************************************************/ +1. Brief +This file is to explain what we have done to make the pprz compatible with IMU (xsens-mtig and microstrain-gx2). +Haiyang Chao on 20080912 for version 1 + +2. New Airborne files added +~/paparazzi3/sw/airborne/osam_imu_ugear.h +~/paparazzi3/sw/airborne/osam_imu_ugear.c + +3. Airborne Files modified (all modifications we made are triggered only if UGEAR is defined) +~/paparazzi3/sw/airborne/main_ap.c +-----Line 122------------------------ +#ifdef UGEAR +#include "osam_imu_ugear.h" +#endif + +#ifdef XSENS +#include "xsens_ins.h" +#endif +-----Line 733------------------------ +#ifdef UGEAR + if (UgearBuffer()){ + ReadUgearBuffer(); + } + if (ugear_msg_received){ + parse_ugear_msg(); + ugear_msg_received = FALSE; + if (gps_pos_available){ + gps_downlink(); + gps_verbose_downlink = !launch; + UseGpsPos(estimator_update_state_gps); + gps_pos_available = FALSE; + } + } +#endif /* UGEAR*/ +----------------------------- +~/paparazzi3/sw/airborne/ap_downlink.h +-----Line 165------------------------ +#if defined UGEAR +#define PERIODIC_SEND_GPS() DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn) +#define PERIODIC_SEND_GPS_SOL() DOWNLINK_SEND_GPS_SOL(&gps_Pacc, &gps_Sacc, &gps_PDOP, &gps_numSV) +#define PERIODIC_SEND_DebugChao() DOWNLINK_SEND_DebugChao(&ugear_debug1, &ugear_debug2, &ugear_debug3, &ugear_debug4, &ugear_debug5, &ugear_debug6) +#endif +----------------------------- +~/paparazzi3/sw/airborne/gps.h +-----Line 42------------------------ +#elif defined UGEAR +#define GPS_NB_CHANNELS 16 +----------------------------- +~/paparazzi3/sw/airborne/infrared.c +-----Line 42------------------------ +#ifdef UGEAR +#include "osam_imu_ugear.h" +#endif +-----Line 239------------------------ +#if defined UGEAR + #if !(defined IMUIR) + ugear_debug3 = 333; + estimator_phi = (float)ugear_phi/10000 - ir_roll_neutral; + estimator_theta = (float)ugear_theta/10000 - ir_pitch_neutral; + #endif +#endif +----------------------------- + +4. Configuration files changed +~/paparazzi3/conf/message.xml +-----Line 31------------------------ + + + + + + + + +----------------------------- + +5. New configuration files added +~/paparazzi3/conf/telemetry/osam_imu.xml +~/paparazzi3/conf/flight_plans/xsens_cachejunction.xml +~/paparazzi3/conf/airframes/osam_xsens_twog.xml +