Open habib-Boloorchi opened 5 years ago
My only experience with using a MPU6050 is using the one built into the pixhawk, where the interface was already provided by mavros. A similar setup to what we do with our sensors is given with a MPU6050 here http://grauonline.de/wordpress/?page_id=1951 (though I have never tried this setup).
Having things in separate or combined nodes won't make much of a difference. I don't really know enough about the rpi GPIO to comment. If it has the same functionality as a micro-controller it would probably work, though I don't know how it interacts with the linux OS and so it is possible there could be some latency issues that would cause problems.
GPIO pins is generally driven within userspace and Debian is not considered as hard real time system (even when patching with RT) making this option inappropriate. I have builded a setup equivalent to http://grauonline.de/wordpress/?page_id=1951 and using a mpu9250 (instead of MPU6050) is making it more stable (once the temperature is stabilized). Time synchronization is possible if the unit is connected to the same time domain.
https://files.gitter.im/patrickpoirier51/ZJsM/image.png
@ZacharyTaylor the mav_tool_public is simply amazing, its good to find answers and pratical solution related to problems related on the integration of UAV with VIO congrats !!
@patrickpoirier51 which camera module is this https://files.gitter.im/patrickpoirier51/ZJsM/image.png?
This is a DIY VIO , here is the link https://discuss.ardupilot.org/t/experiment-with-visual-odometry-rovio/40120
Hey @ZacharyTaylor I want to use ROVIO but I dont know if it is possible to use Raspberry pi GPIO fro get data from IMU(mpu6050) does it works as well as using arduino? I also have Arducam with global shutter and external trigger. this is the link of the camera code it has mt9v034 which are used in skybotics. https://github.com/ArduCAM/ArduCAM_USB_Camera_Shield would you tell me if I need put all sending data (both IMU and camera) from one node to make the be more synchronized. I would be very grateful of any help about the implementation of getting data from mpu6050 and use it in ros I already found this link : https://github.com/chrisspen/ros_mpu6050_node but it has some problems in initializing and I don't know if it just needs 4 wire(SCL,SDA,vcc,grnd) or I need to use a trigger for IMU too.