Jordi Muñoz's Comments

Comment Wall (53 comments)

At 8:52am on May 8, 2008, Constantinescu said…
Congratulations for your anniversary. I will try the explanations ASAP when I will be back home. Which is the best ADC, after you, to use with IMU 5DOF I bought? Jason Wood used an MCP 3208 but:
a) his associated kalman is only for the angle and the gyro_bias, not enough for such a sensor;
b) he uses an ADC not so strong for IMU 5DOF (only 12 bit)
c) he uses some library functions at which I can't have access.
d) dreaming to use something like ahrs.c we discover the memory limitation
Saturday morning I will go a week for a short trip in Madrid. Maybe the very beautiful and very catholic Espagne will help to find a solution.

A bientôt,
At 9:11am on May 8, 2008,
Jordi Muñoz
But he is using it for an helicopter?? Yes i saw some projects using the same sparkfun board but they used it in airplanes (and 12 bits ADC), no helicopters, and the system work at 3 volts so the voltage reference is excellent for this IMU, arduino uses 5 volts and the ADC reference is between 0v to 5v, no 0v to 3volts (remeber that the 5DOF uses 3 volts)... Well i obtained a good ADC with 16 bit resolution... an works with I2C... butt i don't know, could work if you only have one or two sensors... but five is too much, i2c is a easy to use port, but is slowly...

Ah maybe the problem with your library's that you cant just copy and paste the code, you need to adapt it to arduino enviroment
Well you can try... but i will give you an advise try to void using arduino for helicopters (maybe for airplane is feasible) but for helicopter you need high refresh rate to maintain it stabilized..

Ok just because i like you i will tell you this:

I recommend you this microcontroller:

I can give you the link to download the Keil Uvision for program ARM in C++, and where to buy the JTAG (ULINK2) to program it... This MCU works with 3 volts, ultra low power, you have 3 UART ports (serials), 12 bits ADCs, two I2c, and is 2 dmips of power, that means more or less than 200 arduinos attached together of processing power, and consume the same energy as only one. IS based in the ARM Cortex M3, you know ARM right??? is the microprocessor of all the cellular phones (even iphone), and PS3, etc. etc.

I using it to program my next airplane autopilot and i don't have to worry about power any more and ports.. But you need to read a little bit... and expend some time to get the ARM... but at the END is very easy.. even easier than arduino..
At 8:26am on May 16, 2008, Constantinescu said…
Hy Jordi, I am back from Madrid. It was wonderful (Zurbaran, Goya, El Greco, Picasso, etc). What about JTAG (ULINK2) source you promised me? I tried to look on the net but the price of this equipment is big. I found a quotation around 350 dollars. Please send me your opinion. Mean time the sparkfun send me the Cortex M3.
A bientôt, Georges
At 4:24pm on May 16, 2008,
Jordi Muñoz
this is what i promise you:

Work as the ulink2 but is called ulinkme (check it in keil webpage). I used it and is very good.. (was include with my development boards). I also recommend you buy the keil ST32 develiment board because includes the ulinkme free... =)
At 7:21am on May 17, 2008, Constantinescu said…
Hy Jordi, I found very easy the first reference but for the second I am not able to choose one. There are many options and as I am not sure I prefer to ask again your help. Please send me the pointer for the product as for the first one. A bientôt, Georges
At 2:16pm on June 8, 2008,
Jordi Muñoz
Sorry im lost.. What reference?
At 9:34am on November 1, 2008, Sergio O. said…
Hey men... i'm serching for the imu and kalman code in spanish... do you have it.

Pls Help me.
At 8:34am on January 23, 2009, Túlio Fernandes said…
Hi Jordi,

I saw that photo of you and another guy holding an white aircraft, could you please tell me where did you got one of those and how much did it cost?
I'm from Brazil and I never saw those models around here, maybe I will have to buy one outside to use in my grad paper.

Thank you.
At 1:13pm on February 15, 2009, Doug H. said…
Nice work Jordi, do you ever get paid for this great stuff you do? (Maybe an online pizza order, or hardware for experimenting?)
Have a great week man!
At 8:22am on March 12, 2009, Luis Pulido said…
Así es, el mismo pulido de hace mucho. Como te va?
At 9:02pm on May 7, 2009, The_Nono said…
Jordi: podrías decirme como controlar un tercer servo desde el programa por favor?
desde ya muchas gracias.
At 3:03pm on May 8, 2009, Bryan Cuervo said…
I'm having problems with the 2.1 code; maintaining altitude that I didn't experience with the 2.0 code. When I fly RTL with the 2.1 code and configtool, my plane either slowly dives or maintains an altitude at about 25 meters no matter what altitude I enter into "altitude" hold. Maybe I need to change the elevator "trim" in the configtool. What does this trim do?
At 10:18am on May 15, 2009, Michal said…
Hello Jordi - I really appreciate your job. I would like to preorder one shield with sensor but I am leaving tomorrow morning. I would be unale to receive your message you plan to send Sunday night. Would it be possible to pay via PayPal after 24th May? Or I can pay you now.
Best regards
At 1:22am on May 18, 2009, Reto said…
Hi Jordi. Went through your nice new online shop and ordered #1020. Unfortunately, I have to stock up my paypal account to proceed payment. Money transfer to Paypal done but it could take 4-5 days to be credited on my paypal account. I'll be able to process this order #1020 only after that. I hope it's not too much a problem for you. Thanks very much for your understanding and sincerely Yours.
At 7:33am on June 9, 2009, Curt Olson said…
Hi Jordi, I was chatting with one of my UAV contacts yesterday about some of the things the ardupilot does. They might be willing to pay for some of your time to develop a variant of the ardupilot with perhaps some slightly different goes-into's and comes-outof's, maybe some firmware tweaks. If that's anything you'd be interested in talking about, please feel free to contact me. Regular email is probably best, (I try to avoid posting my email address in public forums because of spammers.) You can find my direct email address at the following link (it's a human readable image, not clear text):


At 5:02pm on June 9, 2009, Michael said…
Hi Jordi,

Is it possible to remove the 2000 metre limit in the ardupilot code? I want to use it in the Outback challenge in Australia, but the limit on how far I can fly is going to be a factor.

At 6:10pm on June 10, 2009,
Mark Colwell
Jordi thanks for all your efforts, you were great at Makers Fair, I thank you for the sending a refurbished sensor board with a sensor, funny it has a blue LED for power so I now have: green, red and blue shields (easy to identify each, I also label them with their own offset calibration. I could easily change them all to red, but I would be as much fun and probably get them confused.
At 7:45am on June 20, 2009, Ludwig Färber said…
hello jordi

I have a proplem in my store account
I do not know why it is
I need necessarily a shield kit which I would like to build me a UAV
Chris Anderson has told you for the store are responsible

whom I have all my data you can send to me dan a shield kit to send?

I would pay via paybal

thank you very much

At 5:11am on July 5, 2009, Bryan Cuervo said…
As you can see in these posts we are working hard to get the shield to work. Hope you have also made progress on this and let us know what you recommend as a fix.
At 10:43am on July 29, 2009, Adrian Carter said…
Hey Jordi! Just wanted to thank you for your Kalman Filter example code.

I've updated it to work with the Wii MotionPlus and the Nunchuck. I have no idea yet how to extend it to cover the additional 2 axis left in the M+, but maybe you can suggest how ? it would make a stupidly cheap 6DOF IMU! :)

Anyway, checkout and please offer any comments!!

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