I need clarification on a few settings for ArduIMU+ V2. I am using the following hardware/code:
Ardupilot (red board) code v 2.5.04
Ardupilot shelid V2 (blue board) -------------------
ArduIMU V2 (flat) code v 1.6.00
u-blox5 GS407 firmware v 6.02
1) The ArduIMU code has the following:
#define PRINT_DCM 0 //Will print the whole direction cosine matrix
#define PRINT_ANALOGS 0 //Will print the analog raw data
#define PRINT_EULER 1 //Will print the Euler angles Roll, Pitch and Yaw
#define PRINT_GPS 1 //Will print GPS data
// *** NOTE! To use AdruIMU with ArduPilot you must select binary output messages
#define PRINT_BINARY 0 //Will print binary message and suppress ASCII messages (above)
Q: The first 4 definitions are only applicable if being used with ArduMega, or if you are using the Adudemo to confirm the AdruIMU is working properly? In the case of the Ardudemo it's necessary to set the first two definitions to a value of 1 for the demo to work properly?
Q: The 5th definition must be left with a value of 0 for use with the demo, and set as instructed to a value of 1 for use with Adupilot correct? If the ArduMega board is used should this be set to a value of 0?
----------------------------------------------------------------------------------------------------------------------------------------------
Another definition in the ArduIMU code:
/* Support for optional magnetometer (1 enabled, 0 dissabled) */
#define USE_MAGNETOMETER 0 // use 1 if you want to make yaw gyro drift corrections using the optional magnetometer
Q: Is the Magnetometer currently supported? If so is there currently any documentation? If not I assume it is planned for the near future?
__________________________________________________________________________________
Lastly I have a question on configuration for the u-blox5 GS407
Q: Jordi's page has a reference to programming settings for the u-blox5, it suggests the following UBX settings be active:
-NAV-POSLLH
-NAV-VELNED
-NAV-SOL
Q: Should NAV-STATUS be enabled or disabled?
------------------------------------------------------------------------------------------------------------------------------------------------
I know there are a lot of questions here if you can answer all or part it would be greatly appreciated!
Fly low---Go slow
Q: Should NAV-STATUS be enabled or disabled?
------------------------------------------------------------------------------------------------------------------------------------------------
I know there are a lot of questions here if you can answer all or part it would be greatly appreciated!
Fly low---Go slow
Replies
2) Correct. But the IMU does not support ArduPilot Mega (I assume that's what you mean by "ArduMega"), which uses a different IMU board. (Neither ArduPilot Mega or its IMU are available yet, so I assume this is not a live issue for you)
3) Not yet.
4) Just follow the programming the uBlox module instructions from the manual.