GCS stream no longer contains roll / pitch data

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What steps will reproduce the problem?
1. Checkout latest rev
2. Upload to APM
3. Watch GCS stream via putty or GCS2

What is the expected output? What do you see instead?
roll / pitch values should change, remain zero.

I have ran the IMU debug subsystem as well and roll / pitch change so I know 
hardware is fine. I've been using the variables (roll_sensor, pitch_sensor) for 
some Remzibi integration work and I don't see it updated there either.

Original issue reported on code.google.com by blakekr...@gmail.com on 27 Sep 2010 at 10:21

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Which GCS stream? I've been unable to reproduce the issue.
Jason

Original comment by jasonshort on 28 Sep 2010 at 5:57

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Using the GCS legacy stream. But I have tried using those variables in other 
files as well and I am not getting any data.

Original comment by blakekr...@gmail.com on 28 Sep 2010 at 7:33

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I think you have a setup problem. My theory is you are running the GPS IMU 
(which is used to communicate with Xplane or the older IMU v2 board) instead of 
a MTK or UBLOX.

In APM_Config.h change
#define GPS_PROTOCOL        GPS_PROTOCOL_IMU
to 
#define GPS_PROTOCOL             GPS_PROTOCOL_UBLOX

Jason

Original comment by jasonshort on 28 Sep 2010 at 8:56

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Nope, running GPS_PROTOCOL_UBLOX according to my APM_Config.h

Original comment by blakekr...@gmail.com on 29 Sep 2010 at 1:25

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Change this and look at your output in the serial console :

void read_AHRS(void)
{
    // Get gyro and accel data and perform IMU calculations
    //-----------------------------------------------------
    Read_adc_raw();         // Get current values for IMU sensors
    Matrix_update();        // Integrate the DCM matrix
    Normalize();            // Normalize the DCM matrix
    Drift_correction();     // Perform drift correction
    Euler_angles();         // Calculate pitch, roll, yaw for stabilization and navigation

    Serial.print("read_AHRS roll_sensor ");
    Serial.print(roll_sensor, DEC);
}

Original comment by jasonshort on 29 Sep 2010 at 10:30

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This issue is gone now with the Beta version of the code.

Original comment by blakekr...@gmail.com on 5 Oct 2010 at 12:10

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Original comment by jasonshort on 5 Oct 2010 at 7:46

• Changed state: Fixed