To any potential testers!!!!!!!!!!!!!!!   Check the wiki again. I had the pitch and poll pins revesed. Thanks to Torg's graphic it has been sorted out. Go by the wiki.

something like that? I can't understand how you to connect - and + to servos, if someone clarify this I'll complete the draw for the wiki!

I hope that guys of arducopter not get angry for having used the same style.

PS
i'm going crazy with the two copy of the topic :(

In the meantime I also tried the code version from Michael Oborne and it worked out of the box for me. Though I got hyroglyphs in the terminal window the stabilization itself worked very well. From what I saw some of the code might be from here: https://code.google.com/p/gentlenav/source/browse/branches/MatrixPi...

Having a 2g accel calibration scale is very good for what I want but does anybody know the correct calibration registers for a gyro scale of 250 deg/sec. The ones used in the code are for 2000 deg/sec:

void MPU6000_set_gyro_calibration()
{    
  byte regs[4];
  regs[0]=0x4C;
  regs[1]=0xCD;
  regs[2]=0x6C;
  MPU6000_set_mpu_memory(0x03, 0x7B, 0x03, regs);        //FCFG_1 inv_set_gyro_calibration
  regs[0]=0x36;
  regs[1]=0x56;
  regs[2]=0x76;
  MPU6000_set_mpu_memory(0x03, 0xAB, 0x03, regs);        //FCFG_3 inv_set_gyro_calibration
  regs[0]=0x02;
  regs[1]=0xCB;
  regs[2]=0x47;
  regs[3]=0xA2;
  MPU6000_set_mpu_memory(0x00, 0x68, 0x04, regs);        //D_0_104 inv_set_gyro_calibration
  regs[0]=0x00;
  regs[1]=0x05;
  regs[2]=0x8B;
  regs[3]=0xC1;
  MPU6000_set_mpu_memory(0x02, 0x18, 0x04, regs);        //D_0_24 inv_set_gyro_calibration
}

Simply trying to change  MPU6000_SPI_write(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS);  to BITS_FS_250DPS compiles but leads to a trifting servo output...

Thanks,

Andreas

@ Torq, Don't use those power connections. Thats the input to the onboard regulator, and you can't use that to power servos. Since you all ready need a 5 BEC you can use that to power the board. The power connections to the servos you need to do your self with perf board and a row of two or three pin connectors. Like this.

The input and output locations are correct. The capacitor is optional. Please test all your connections before powering up to ensure that no + to - pins are shorted or anything else. Please be careful so you don't fry your board. If you are not 100 % sure of what your doing, then don't do it ask for help.

I'm sorry can't understand also because I don't have arduIMU yet...can you draw a scheme?

OK Torg heres a picture. I guess I can make one. I was hoping you would do it for me. I all ready did the hard part after all :)

To anyone testing this. After reading anther post about imu 3 v1.9 giving bad data, it hit me. I have a very early version of the board. In fact it didn't have a bootloader installed.

I have updated my gimbal controler to auto detect the hard ware version from the mpu6000 and set the accelerometer scaling. I got it from Arduplane 2.4 and ported it to the V1.9 gimbal controller.

Get the latest version here. I should have known of this problem, but both my board are version C the older ones. It will now switch to C or D automatically on start up.

Ok guys, some news about testing? did the yaw compensation work?

This is for the wiki

Andreas

When changing to BITS_FS_250DPS was that a Drifting issue that you found?