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Clarification in Building ArduPilot with IMU.

Posted by Dan Smithson on April 7, 2010 at 5:16pm
Hi I am in the process of building the ArduPilot with the IMU. I need clarification in using the Shield described as follows..

- Wire it up like the below. You don't need to use the ArduPilot shield, however use of the shield is recommended so that ArduPilot will have an airspeed sensor input. If you are using the shield there is no need to attach thermopiles! Attach your RC gear as normal.

 

 

If you put on the shield where do hook the wires coming from the IMU? I think to the header but I need to be sure for myself. Thanks......Dan

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  • apple April 24, 2010 at 3:29pm
    Tom, I looked at your photos at length. (and thanks for the photos!)

    Looks like
    IMU D8 to Shield D6
    IMU FWD GND to Shield - (That is a minus sign) on Four pin Header parallel to Shield GPS Input. BLACK
    IMU FWD 5V to Shield 5V of Four pin Header parallel to Shield GPS Input. RED

    Then it gets a little confusing:

    You have a four wire harness. The BLACK and RED are clear but the WHITE and YELLOW are blurry.

    It looks like BLACK RED YELLOW WHITE on the IMU to BLACK RED WHITE YELLOW on the Shield. But the photo is blurry so it could be BLACK RED WHITE YELLOW on the IMU.

    HENCE is it GRND 5V RX TX on the IMU to - 5V OUT IN on the Shield?

    or GRND 5V RX TX on the IMU to - 5V IN OUT on the shield?

    You also have another four wire harness, white blue red black that goes to a connector that is not hooked up to anything. What is the purpose of this wire harness? Did I miss something?

    Lastly, is it possible to get the FTDI cable attached and the XBEE at the same time to the shield header? I was having a hard time doing diagnostics with the FTDI and the IMU attached at the same time using the previous wiring diagram.

    Thanks in advance.
    blurry.it
    This domain may be for sale!
  • Tom Hastie April 7, 2010 at 8:28pm
    Here is how mine is connected up. It seems to be working for me. I'm putting the ArduIMU input into the GPS connector on the shield to avoid having to continuously disconnect when uploading new code to the ArduPilot.

    I think the reason you might not be seeing a short circuit is there is a multiplexer on the Shield that toggles the serial data between the FTDI pins and the GPS pins. You'll have to make sure the bits in your header file are setup correctly to toggle this Mux.

    Sorry for the blurry pictures... I only had my phone handy.

    Hope this helps,

    Tom

    IMU1.jpg

    IMU2.jpg

    IMU3.jpg

  • 3D Robotics
    Chris Anderson April 7, 2010 at 5:30pm
    Same pins, but on the shield: D6 and Rxi (and V+ and GND)
This reply was deleted.

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