Some day's ago I did my first flight with my quadcopter. I'm using a arduino mega 1280 compatible board and use wifi communication. I wrote my own arduino code and created my own groundstation (pc) application. But this takes much time. So I was thinking, why would I create everything from zero when arduplane/copter has is it all ready to fly :)
So I started with porting the arducopter firmware (v 2.5.3) to my arduino mega board. The only problem is that current firmware versions are not compatible with my Razor 9DOF IMU.
Does someone know if there currently is a project in (progress of ready) that adds Razor 9DOF compatibility to the arducopter firmware?
If such a project does not exist at this time. I would like to start it as from today :) and would like to get contact with someone from the arducopter development team. Someone that could give me some basic instructions and guide me so that I can build the code as much as compitible with current or future firmware versions.
I currently have added razor 9dof code to the arducopter libraries. Gyro and Acc data are read from the imu via serial. I used the arducopter inertialsensor classes to make it as much as compatible. When I launch the APM planner software I can see that raw gyro and acc data are well integrated and read from the imu.
The only problem I currently have is that I could need some help with the _accel_scale and _gyro_scale factors. Arducopter reads my raw data, but the scale factors are wrong. I really don't know what settings I have to use for the Razor9Dof imu.