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smashyanand / ardupilot-mega

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IMU Refactor #120

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
The data processing for the IMU should be refactored into a library. 

It should permit two main modes and allow for individual binary protocol 
implementations.

The first mode should use the local processor to perform the DCM.

The second mode should accept angular information from a different source a la 
X-Plane or an off-board IMU.

It would be similar to the GPS implementation.

Original issue reported on code.google.com by logan.gr...@gmail.com on 20 Sep 2010 at 12:29

GoogleCodeExporter commented 9 years ago

Original comment by DrZip...@gmail.com on 27 Sep 2010 at 5:29

GoogleCodeExporter commented 9 years ago 
I can help with these changes. I have currenly implemented an external imu from 
the spark fun 9dof board.

Original comment by logan.gr...@gmail.com on 27 Sep 2010 at 11:57

GoogleCodeExporter commented 9 years ago 
Plan to refactor using the AP_Math library.  We need to think a while on what 
needs to be public (variables/methods) to facilitate other enhancements such as 
wind estimation, turn coordination, magnetic offset nullification, etc.

Original comment by dewei...@gmail.com on 5 Oct 2010 at 10:44

GoogleCodeExporter commented 9 years ago

Original comment by dewei...@gmail.com on 9 Nov 2010 at 3:37

GoogleCodeExporter commented 9 years ago 
I think I was looking for a library that would allow me to deal with any IMU 
rather than having the DCM code embedded in the core of ArduPilot mega.

I think you all need to work towards more modularity in the code base. For 
example the pressure sensors, the data logger, and the IMU sensors are all 
things that can and should be pluggable. Each of these should be placed in a 
library that provides the data to the core pilot code. Right now much of this 
is intertwined with the pilot code.

Not everyone is going to want to use the mega shield, we may have our own IMU's 
for example that would use Serial 2 as an input.

Original comment by logan.gr...@gmail.com on 9 Nov 2010 at 9:14

GoogleCodeExporter commented 9 years ago

Original comment by dewei...@gmail.com on 10 Jan 2011 at 4:38