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Ardupilot & Arduimu with code 2.5, it works

Posted by Yves Gohy on February 27, 2010 at 11:32am

Hello, here is a version 2.5 using the IMU not the optical sensor and a GPS uBlox.

 

At the same time I solved the problem of checksum that was capricious, the problem was the failure to manage overflow ck_a and ck_b as a type byte. There were too valuable to be zero, since more than 255. So the checksum is calculated on fourth bytes now. And it works.

Give me your opinion on this piece of code.

iArduImu.zip

iArdupilot_25.zip

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  • Developer
    Doug Weibel February 28, 2010 at 11:31am
    Yves - The overflow in the calculation of the checksum IS NOT a problem. It is an intentional part of the checksum calculation. Google Fletcher checksum for background on the checksum calculation. By changing from byte types to long types you negate the ability of the checksum to catch certain error types.

    There have been various problems related to the checksum in various versions of the parsers. These have mostly been corrected in the latest revisions. If you are still seeing checksum problems with the latest revisions let us know. However changing the checksum types to long is an incorrect fix.
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