For starters, thank you to everyone in the community and the founders for the great work on this project - I recently purchased the full ArduPilot, V2 shield, V2 IMU and uBlox GPS and been having a blast learning everything involved. Now if only you sold a kit to navigate wife aggro from spending so much time ArduPiloting....
I have run into an issue that I believe stems from the MUX on the Shield. I've uploaded the latest code to the IMU, GPS (6.02), and Ardupilot. All components test out fine individually, and when I have the IMU hooked to the Ardupilot running the latest 2.6 code I get proper IMU data and GPS information being transmitted through the XBee. The GPS lock on the IMU lights up and it appears that all data is coming in fine, the Ardupilot in Stabilize mode makes proper adjustments to the R and E servos. I've attached a snippet below (test run sitting on my desk, no Roll/Yaw/Pitch changes):
!!!LAT:45499204,LON:-122586128,SPD:0.4500000000,CRT:0.0000000000,ALT:64,ALH:116,CRS:55,BER:321,WPN:1,DST:124,BTV:6722509.5000000000,RSP:-0.2318617105,TOW:594052250,***
+++ASP:0,THH:0,RLL:4,PCH:3,CRS:55,IMU:255,ch3_in:1088,***
+++ASP:0,THH:0,RLL:4,PCH:3,CRS:54,IMU:255,ch3_in:1089,***
+++ASP:0,THH:0,RLL:4,PCH:3,CRS:54,IMU:255,ch3_in:1089,***
+++ASP:0,THH:0,RLL:4,PCH:3,CRS:54,IMU:255,ch3_in:1088,***
!!!LAT:45499203,LON:-122586127,SPD:0.6900000095,CRT:0.0000000000,ALT:64,ALH:116,CRS:54,BER:321,WPN:1,DST:124,BTV:6722016.5000000000,RSP:-0.2309999942,TOW:594052750,***
+++ASP:0,THH:0,RLL:4,PCH:3,CRS:54,IMU:255,ch3_in:1088,***
+++ASP:0,THH:0,RLL:4,PCH:3,CRS:54,IMU:255,ch3_in:1088,***
+++ASP:0,THH:0,RLL:4,PCH:3,CRS:54,IMU:255,ch3_in:1088,***
PPPpTm:30020,mLc:1501,DtM:20,gsc:4,adc:0,rsc:0,rbc:0,gpe:0,gce:78,gpf:119,gnf:120,gms:42,gmr:47
When I add the V2 shield I still get an IMU blue lock, however the shield/ArduPilot don't reflect that in their blue blinky behavior. I will occasionally get IMU data, however I never see GPS data in the data stream, just the error message "No GPS Data for 10s" and often the IMU data doesn't appear to be getting through - IMU health is at 0, as are roll, pitch, and crs numbers:
+++ASP:0,THH:0,RLL:0,PCH:0,CRS:0,IMU:0,ch3_in:1297,***
+++ASP:0,THH:0,RLL:0,PCH:0,CRS:0,IMU:0,ch3_in:1297,***
+++ASP:0,THH:0,RLL:0,PCH:0,CRS:0,IMU:0,ch3_in:1297,***
+++ASP:0,THH:0,RLL:0,PCH:0,CRS:0,IMU:0,ch3_in:1234,***
+++ASP:0,THH:0,RLL:0,PCH:0,CRS:0,IMU:0,ch3_in:1087,***
+++ASP:0,THH:0,RLL:0,PCH:0,CRS:0,IMU:0,ch3_in:1027,***
XXX No GPS, last 10s
This run was from a test where the IMU didn't seem to be getting through the Shield.
I've triple checked/reflowed my solder joints, the D7 data setting the 74157 high is initializing properly on startup, but the IMU data seems unreliable.
I've tried working around the issue by directly hooking the IMU out to the RXI input on the ArduPilot - this seems to work fine, all GPS and IMU data is good, same as if I don't have the shield on.
If there isn't something obvious that I'm missing, would it be safe to directly hook the IMU to the RXI line on the ArduPilot, removing it for FTDI code updates, etc? I can upload pictures of my setup this evening, and I've attached my headers file.
Thanks for looking at this, I'm a bit stumped...
Replies
Please see my reply here - http://diydrones.com/forum/topics/imu-v2-to-ardupilot?commentId=705...
A few of us have been having this issue....
Here is a thread going over this problem, HERE
The problem so far as i have been able to ascertain is that the Data in on the V2 Shield, is not pulled low after setup so no data is being read by AP..its bypassed ( all to do with uploading with GPS on one serial port)
Have a look through the thread listed....i think it will answer some questions for you.....
regards,
Mike.