Posted by Richard Green on November 22, 2009 at 4:39am
I have just bought the Ardopilot Board, the v2 shield and an EM406 GPS. I already have an x-y sensor from my FMA CPD4 co-pilot however I am finding it impossible to get a z-sensor without having to buy a new x-y sensor. I have the lead to connect the IR sensors to the v2 shield coming in the post.I have been looking at the 2.1 code (the last version to allow use without a z-sensor) with a view to modifying the 2.4 code to remove the necessity for the z-sensor. However it appears that not only do some of the pins appear to change function but the v2 board is different to the v1 shield causing the GPS not to work with the 2.1 code. I know that I can select the correct board in the header file of v2.4 but if I migrate the 2.1 IR calibration code 'as is' will it work?Can anybody please give me some clues as to how to modify the 2.4 code to work without a z-sensor (or a source for a z-sensor - I am in the UK) I would be very grateful.I know that the IMU board should be available as a direct replacement for the IR sensors in the new year which is another reason not to spend too much at the moment.ThanksRichard
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If you have another FMA XY sensor, you can use that as a Z. I wouldn't modify the code to eliminate the Z, A) because it will probably be a lot of work with poor results, and B) you'll have to do the modification again everytime we release a new version of the code.
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