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Sean Thomas's Discussions
Use regular Arduino Mega as ArduCopter
Started this discussion. Last reply by Aleksey Kharlanov Mar 29. 10 Replies 0 Likes
I have an Arduino Mega I want to use instead of the Ardupilot mega as it is basically the same thing. I have a Pololu MinIMU-9 IMU (which is based off the ArduIMU 1.5) I want to use. I have spent a…Continue
Tags: minimu-9, dof, quad, quadcopter, minimu
Use a different IMU in place of ArduIMU?
Started this discussion. Last reply by Sean Thomas Jan 31. 5 Replies 0 Likes
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…Continue
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Aleksey Kharlanov replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"Of course :)
Sean Thomas asks where to start to adopt MPNG firmware for his sensors."
Jake Stew replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"Except that the "Pololu MinIMU-9" is a L3G4200D 3-axis gyro and an LSM303DLH 3-axis accelerometer and 3-axis magnetometer unit."
Aleksey Kharlanov replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"Start from AP_InertialSensor\AP_InertialSensor_Pirates.cpp
This driver for ITG3200 (gyro) and BMA180 (accel), you can edit this file to work with your sensors. Once it will work, I can intergate to existing MPNG project."
Sean Thomas replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"I have been looking through the project and downloaded the source code, but I am not that great of a programmer. If I were to write my own driver, where would I even start?"
Sean Thomas replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"That would be ideal... but as it is not out I will probably just go on with the one I have. "
Jake Stew replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"I should have thrown in a link to better explain what I'm talking about...
http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATA_BRIEF/DM00046903.pdf
http://www.st.com/internet/com/press_release/p3273.jsp
ST has finally…"
Sean Thomas replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"I was going to use an Arduino pro mini clone that I have quite a few of to do the ahrs."
Jake Stew replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"That IMU would probably be a lot better than the current setup. It shouldn't be that hard to use a STM32 to do the AHRS (iNemo).
Unlike Invensense, ST chips actually have a functioning motion processing / AHRS setup. I got really…"
Sean Thomas replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"Thank you that is EXACTLY what I was looking for!"
Aleksey Kharlanov replied to Sean Thomas's discussion Use regular Arduino Mega as ArduCopter"ArduCopter already ported to Arduino MEGA (MegaPirateNG project), but your sensors not supported. Anyway you can write drivers for MinIMU."
Sean Thomas posted a discussionUse regular Arduino Mega as ArduCopter
I have an Arduino Mega I want to use instead of the Ardupilot mega as it is basically the same thing. I have a Pololu MinIMU-9 IMU (which is based off the ArduIMU 1.5) I want to use. I have spent a lot of time trying to make the IMU work with the legacy Arduplane, but it got put off and I never finished it. I know it could be done though. The APM is compatible with quads, so I figure this would be my best route. I have no problem with creating my own shield that will go on the Arduino Mega. I…See More
Sean Thomas replied to Sean Thomas's discussion Use a different IMU in place of ArduIMU?"!!!VER:1.6,AN0:168.00,AN1:-168.00,AN2:-168.00,AN3:168.00,AN4:-168.00,AN5:168.00,MGX:0,MGY:0,MGZ:0,MGH:0.00,TOW:0***
That's what I get over and over when I read raw values... must have been an error in my code transfer. I'll try and run…"
JesseJay replied to Sean Thomas's discussion Use a different IMU in place of ArduIMU?"Hmm. I'd start off by just using reading the raw values, do those look good? Then does the straight MinIMU code work? IF so, figure what parts your merged, and look for the problem... line by line till…"
Sean Thomas replied to Sean Thomas's discussion Use a different IMU in place of ArduIMU?"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).
"
JesseJay replied to Sean Thomas's discussion Use a different IMU in place of ArduIMU?"The MinIMU-9 just has i2c sensors like the ArduIMU. It does no on board processing. The ArduIMU V3 will off load some of the calculations to a DMP6000 once they workout the firmware licensing issue. Also, the MinIMU-9…"
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