Volunteer beta testers for 6-DOF IMU?

Hi all,I am finishing up a 6-DOF design using ST's new family of rate gyros and the ADXL335 from Analog Devices. (See http://www.diydrones.com/forum/topics/best-setup-and-pinout-for-6dof for some older posts on the topic).The IMU uses the STM32 microcontroller to sample and filter the analog outputs of the sensors. I've implemented windowed FIR low-pass filters on all channels, and added oversampling and decimation to increase the ADC resolution (to 16-bits). Sensor data is available over a TTL UART (3.3V, but the pins are 5 V tolerant).Within the next week or two, I will be ready to send a number of these out for testing. Would anyone here be interested? If you agree to test it and send feedback, I can ship you one for free. I would prefer to send them to people who have some experience with this sort of thing...

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Replies

  • Hello Caleb,

    I'm a Mechatronics Engineer and a UAV enthusiast. I've worked with Neuro-Fuzzy controller GA tunning (M. Sc.) and I'm currently developing a INS based on a 6-DOF IMU (SparkFun Razor) and a GPS module (LS20031) for unmanned vehicles. I've got years of experience in MATLAB/SIMULINK Data processing and Control Systems Developing. I'm currently working a Embedded Software Engineer for the Automotive industry.

    I'd love to compare your IMU with the one available from SF an send you my findings.
  • 3D Robotics
    Caleb,

    Please let us know what you learn about these gyros. We're developing a version of ArduIMU to use them and need to know about any funky vibration issues or other differeneces from the LISY300s.

    Thanks!

    Chris
  • Hello, I am a candidate, free or not. I had my years in flight controls (fifteen or so, mostly with Embraer, some with 787, including artificial stability and fly-by-wire). I am making a paramotor, and the GPS alone is not enough to get it stable and reasonably precise. Can I tweak the STM code? (will send back whatever I do). What filter are you using? I got a good biquad implementation from old projects (assembly for a freescale dsp, but easy to translate, doesn´t use the MAC).

    Did you get the gyros´ VREF out (or read them with the STM)?

    What is the gyros´ sensibility? 30/120 deg/s? If not, could you assemble one with this sensibility (I would buy the gyros and send them to you)

    If I get the IMU, I will send back a recording of IMU output, servo commands, gps and film, all synchronized (I will change the ardupilot code to add a film synchronization strobe), with a performance report.
  • Developer
    I just assembled and started testing Jordi's ArduIMU. I have 2 other IMUs from Sf (Atom 6°DF & an older 5°DF) I would be interested in testing your new IMU and reporting results, (vibration effects from helicopters? I have a background with system test, I was Navy ET and then system test engineer at Edwards AFB, but ArduPilot is my first micro controller project. I have several test aircraft two that can survive a full on crash: Stryker & FastStik with ailerons. I have some test equipment: O'scope & DVM meter, I have ArduStation ground station to monitor in flight data, I would like to modify ArduIMU to send digital data via I2C or SPI to ArduPilot and have ArduPilot detect IMU and disable or ignore IR sensor, My goal is to use ArduPilot on my helicopters too, I have several to work with. My HDX-500 is setup with EagleTree V3 datalogger , GPS & OSD and 900mhz video down link, with Jazz 178 HD camcorder for payload. It is well tuned and almost vibration free, It can hover very steady. I also have a Trex600 for larger payloads.
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