I am in the process of building an autopilot, and I have a Pololu MinIMU-9 http://www.pololu.com/catalog/product/1264. I want to use this in place of the ArduIMU since I already have it. I have an Arduino Pro mini withe Atmega328p (clone actually), and that would be the dedicated AHRS board. I either want to run ArduIMU software on the Pro mini and adjust the code to read the Pololu IMU, or use the code that already reads the Pololu IMU and trick the ArduPilot into thinking it is the ArduIMU. I have played with this a bit myself but I seem to be a bit stuck, as my programming skills are mediocre at best.
I think it would be better to run ArduIMU modified to read the Pololu IMU, as it would just interface with ArduPilot much better. For example, the GPS runs through the ArduIMU. The thing I seem to be lost on how to fix is that the Pololu IMU already does some of the processing (I believe), and it has two data out ports. Whereas the ArduIMU, if I understand correctly, has to actually monitor each sensor itself.
If anybody can think of a way for me to do this that would be great! Also I have an Arduino Mega that should be arriving any day, so if I would be better off running ArduPlane 2.0 and interfacing with the Mega, that would be even better as ArduPlane 2.0 would be much better anyway. I would create my own shield for the IMU and GPS so having 50 jumper wires would not have to happen.
Thanks!
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I'm sure it's user error!
This is the code I have so far from essentially smashing the two codes together, but it still doesn't work. (Code compiles but I get incorrect sensor readings in the serial monitor).
Oops I meant ArduPilot Mega 1.0 every time I said 2.0.