Comment by Gil on September 23, 2009 at 1:22am

To Chris and Jordi, since there are so many users out there using the Ardupilot 168/328 together with horizon XYZ sensors, why not make a special IMU version with 3 analog outputs,....i do not wish to order another AP version so fast...just got mine a few months back,...and i bet there are others thinking like me !
So, is that so difficult for you guys to take some care of us ?

Gil

Comment by helitron on September 23, 2009 at 9:00am

Jordi,

are the sensorboards on the little blue motherboard identical with the Breakout Board Expandable IMU ADXL330/LISY300 v2 and two of the Breakout Board LISY300 GYRO 300deg/sec from the webshop ? If yes, would it be possible to get such a motherboard alone because I bought a set of those sensorboards some time ago and I'd be happy when I can use the boards for this purpose.

Erwin

Comment by Dimitar Kolev on September 23, 2009 at 12:07pm

Another great piece of work!
Quick questions - do you think (Chris, Jordi, probabably Remzibi and HappyKillmore) it will be possible to work together with Remzibi OSD and using GPS in Remzibi kit (with some hardware and software patching of course). It guess it will be quite complete piece of equipment then :-)

Comment by NorthSweden on September 23, 2009 at 1:00pm

that would be great.

Comment by steve kloppenburg on September 23, 2009 at 10:22pm

well this is intersting... I have finally gotten the adrupilot to work on my mentor... now onto new things I guess... haha... so is this a daughter board then to the main adruinto autopilot? as in it takes place of the shield? Or is it stand alone? if so where are the servo connections input and output?

3D Robotics Comment by Chris Anderson on September 23, 2009 at 10:29pm

Steve,

This IMU is not meant for the current ArduPilot. It is a stand-alone IMU/AHRS at the moment (not an autopilot). It will also the core of our next autopilot, ArduMega, but don't look for that until the end of the year at the earliest. The current ArduPilot will continue to be our thermopile option.

3D Robotics Comment by Jordi Muñoz on September 24, 2009 at 12:12am

@ Scott Plunkett,

The only way to use those gyros is using an external ADC of 12 bits. A 10 bits ADC is not enough for the output of those gyros if you want at least 1 degree of resolution. I proposed to add a SPI 12 ADC to use those sensors but that means bigger size, more problems and higher price, so we decided to make it simple. This is only a learning product for everybody and for me! I hope the community will say" Hey! HEy! that's wrong!! And i will happily correct it. The result will be a communist system, cheap and open source for all! Like ArduPilot.

Comment by Lorentz on September 24, 2009 at 1:41am

@Jordi,
congratulations, great job! BTW it's not impossible to get 12 bit accuracy from 10 bit ADCs by oversampling and decimation. The downside is that to reach 12 bits one needs (at least) 8 times oversampling. That means that sampling rate is 8 times slower unless you speed up ADC sampling. I perused your DCM code. I've a question about acceleration adjustment. From my (poor) understanding of Premerlani's paper, I would have been using ground_speed for computation: why are you using speed_3d instead ? thank you.

Developer Comment by Mark Colwell on September 24, 2009 at 7:52am

I will attempt to adapt this code to work with Sf 6DF atom and include up stream control link.

Comment by Scott Plunkett on September 24, 2009 at 7:52am

So this is a very cool project, and I love the low cost nature of it..but it seems to me that for around $150 we could have the flat board, USE a 12 bit ADC AND add barometric and airspeed sensors and we would have a full on ADAHRS (Air Data Attitude Heading Reference System) that would be ArduPilot compatible, could be a replacement shield, AND could be compatible with the NextGen ArduPilotMega - that might even free up some resources (clock cycles) on the Mega to do some other interesting things - so how about it?? - I'd be willing to kick in some time / dollars for board development and the like. We could even use the forum here to flesh out what we would all like to see done on the calculations side like - how do we compare / treat the data from the GPS vs the airspeed sensor, and the GPS vs. the Baro Altitude, etc., etc.

Regardless, I think the community isn't really screaming Hey! that's wrong...I think what I'm reading is more like...Ummm, what about the hardware I just got working...I can't use any of it other than my GPS (and in cases where people have the EM40x even that, now that the UBlox transition is happening?)

Just my two hundredths of a single unit of US credit backed currency.

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