Comment by Recmaster on November 9, 2009 at 5:27am

Hello Jordi,
i've some questions about it.

1. Is it possible to connect ultrasonic device throw IO connections or we need to change this circuit board?
2. Do we have a existing shield with magnitometers or it just future posibility?

Comment by Roberto Hawkowski on November 9, 2009 at 5:28am

Thanks !!!
How ArduIMU+ is going to be interfaced with the external Arduino boards? Is it going to communicate with RS232 or I2C or SPI?
What is the update rate? i.e. How often it will report the attitude, heading, acceleration, rotational rates, GPS etc. to host computer?

Moderator Comment by Chris Anderson on November 9, 2009 at 8:00am

Roberto, typically you'd interface with an Arduino board via the TTL serial port. The update rate is 50Hz.

Moderator Comment by Chris Anderson on November 9, 2009 at 8:04am

automatik: yes, as mentioned, we're collaborating with Sparkfun. The idea is to use the same codebase across multiple configurations, including theirs.

3D Robotics Comment by Jordi Muñoz on November 9, 2009 at 12:08pm

Yes, actually days before Razor was released i just ask Nathan (Sparkun CEO) for the Razor files because i wanted to develop the ArduIMU flat, just like that. Then we decided to make similar (but different) products based on the same code. I will adapt the IMU code to future SF boards too. Also remember that we designed the ArduPilot and they are selling them.

Comment by Edouard H on November 9, 2009 at 3:14pm

Any chance you guys will be selling the ardupilot board in your shop? This would save shipping costs for poor european uav addicts ;-)

Moderator Comment by Chris Anderson on November 9, 2009 at 3:21pm

Edourad, I'm afraid that US regulations do not allow us to sell autopilots directly without going through some very tortured export approval processes. Trust me, the red tape we'd have to make you go through is a lot more painful than the extra shipping costs!

Comment by Edouard H on November 9, 2009 at 3:42pm

No worries. I'll go with sparkfun.

Comment by Eric on November 10, 2009 at 12:09am

Aw man, if I had only waited another week I could have gotten a flat one? For the same price too?!

=(

Developer Comment by Doug Weibel on November 12, 2009 at 8:29pm

HOUSTON, WE HAVE A PROBLEM!!!

I have the ArduIMU+ Flat board in my hands and there appears to be a big problem. I think it is in the hardware analog filtering of the gyro outputs, but someone better at hardware needs to see what is wrong and how to fix it.

The attached graph shows the gyro response to a rotation about the x axis. I took the unit and rotated it relatively swiftly through 90 degrees (without saturating the gyro) and then brought it to rest. The easiest place to see the mis-behaviour is on the right side of the graph. You can see that rather than returning to a zero rotation rate the (analog filtered) gyro output overshoots and then slowly decays back to zero. Of course this completely wacks out the DCM. It is more difficult to see what occurs when the board is in motion, and of course my rotation by hand does not produce a real step response.

Hopefully someone up to speed on analog filtering can take a look at this result and the schematic and give some input on what is going on. I don't see a way to correct it in the software.

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