Posted by Jordi Muñoz on September 11, 2009 at 1:00pm
I have to be honest; i tried to kept this project as a little secret to void people waiting for it, so i have plenty of time to prototype. Not to mention that everything was running very slow because the school and we were moving the business to another location.I would like to give special thanks to Chris Anderson, Nathan Seidle (from SparkFun) and specially to William Premerlani, we've spent a great time together trying to adapt the code into Arduino Environment, a great experience for me (absolutely). Thank you Bill!The ArduIMU V2 is intended to be used for learning and general robotics, also will set the starting point for next incoming IMU based ArduPilot's (at the end of this year) and lot more! The code is based on the very well known Arduino Environment and is Open Source (of course!).The hardware consists on 3 axis accelerometers/gyroscopes, dual power regulator (3.3v and 5v), GPS port, an Atmega328@16mhz and a lot of status LED's.The code uses Direction Cosine Matrix code (By Bill Premerlani) and some other stuff extracted from ArduPilot (developed by me). You can read more about DCM here.The mass production is not clear yet, but the sensors can be purchased now from SparkFun or from our store. For now i will assemble just a few boards (ready to use) and sell them the next week (controller board with sensors) for around 100 bucks, sorry... For around $99 dlls. =) But being honest i will have to increase tiny bit the price to keep the DIYdrones store alive! Moving the business was kinda expensive.About the boards color, i will kindly ask Nate to change the color to blue because I'm unable to match his red (mine is more like orange). All the incoming boards from us will be blue anyway. =)The code will be released next week with the hardware. Please be patient. Thank you!Here is a demo video:
The ArduPilot is the autopilot. (Currently using thermopiles for leveling)
The ArduIMU is a sensing device.
To quote Wikipedia "An IMU measures and reports on a craft's velocity, orientation, and gravitational forces, using a combination of accelerometers and gyroscopes."
It is currently not ported to the ArduPilot, but a similiar IMU will be part of the ArduPilot Mega version due out next year.
You can increase the how much you trusts the gyros and reduce the accels.. But also this IMU uses GPS to calculate how much acceleration you have in the curves and will compensate it.
Hi,
I plan to use the ArduIMU on my motorbike to log attitude. I don't understand all these maths, and I have the following question: Will the IMU usefull to measure lean angle and bike attitude refered to ground, not earth, under the following conditions?
1) On the same racetrack, speed can go up to 300km/h, followed by a hard braking before a turn taken at 60.
2) During bike acceleration and braking, the pith angle is not aligned with the ground.
3) During heavy braking before turn, there is some constant yaw during some seconds.
4) Racetracks are not always flat, nor horizontal.
ArduIMU v1.1 uses a serial baud rate of 57600, but ublox modules come programmed to 38400!
You will not get GPS lock as the ublox does not properly communicate with ArduIMU unless you reprogram your ublox (I did mine with ucenter), or you change the baud rate in ArduIMU.
I have a message in to Jordi. I am curious if there is a reason to prefer one of these fixes over the other.
hi Jordi,
i'm not sure i understood all the principles of this IMU,
reding the DCMdraft2.pdf i can see that no accelerometer is used for yaw control but only gyro+GPS are used
1/could you explain why the 3nd accelero is for? (if GPS is invalid then drift on yaw will occurs?)
2/does the whole fusion processing (DCM) is done into the board or is it implemented on the PC
waiting for the stock to buy one or two of those...
thank's in advance
Comments
The ArduPilot is the autopilot. (Currently using thermopiles for leveling)
The ArduIMU is a sensing device.
To quote Wikipedia "An IMU measures and reports on a craft's velocity, orientation, and gravitational forces, using a combination of accelerometers and gyroscopes."
It is currently not ported to the ArduPilot, but a similiar IMU will be part of the ArduPilot Mega version due out next year.
You can increase the how much you trusts the gyros and reduce the accels.. But also this IMU uses GPS to calculate how much acceleration you have in the curves and will compensate it.
I plan to use the ArduIMU on my motorbike to log attitude. I don't understand all these maths, and I have the following question: Will the IMU usefull to measure lean angle and bike attitude refered to ground, not earth, under the following conditions?
1) On the same racetrack, speed can go up to 300km/h, followed by a hard braking before a turn taken at 60.
2) During bike acceleration and braking, the pith angle is not aligned with the ground.
3) During heavy braking before turn, there is some constant yaw during some seconds.
4) Racetracks are not always flat, nor horizontal.
Thanks fromany help.
Angelo
ArduIMU v1.1 uses a serial baud rate of 57600, but ublox modules come programmed to 38400!
You will not get GPS lock as the ublox does not properly communicate with ArduIMU unless you reprogram your ublox (I did mine with ucenter), or you change the baud rate in ArduIMU.
I have a message in to Jordi. I am curious if there is a reason to prefer one of these fixes over the other.
Doug
Where can I get a hardware diagram or this IMU ? Is it shipped with the kit ? (I'm waiting for mine to arrive).
@fefenin : I suppose that DCM is done on board: otherwise it's no use.
Thanks,
i'm not sure i understood all the principles of this IMU,
reding the DCMdraft2.pdf i can see that no accelerometer is used for yaw control but only gyro+GPS are used
1/could you explain why the 3nd accelero is for? (if GPS is invalid then drift on yaw will occurs?)
2/does the whole fusion processing (DCM) is done into the board or is it implemented on the PC
waiting for the stock to buy one or two of those...
thank's in advance
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