I'm trying to get an AHRS system going in WebbotLib to support the Sparkfun Razor board.
There are currently 3 hardware revisions of this board and the code that is 'linked' from their website is VERY out-of-sync with their hardware and is also in Arduino coding format. The reason for converting it to WebbotLib syntax is that (once working) it will require very minimal change to work with all 3 boards and will also allow you to create your own IMU from any gyro, accelerometer, magnetometer supported by WebbotLib.
The 3 revisions are:
1. SF product ID SEN09623http://www.sparkfun.com/products/9623] [url]http://www.sparkfun.com/products/9623
[/url] using: LY530ALH/LPR530ALH gyros, ADXL345 accelerometer, HMC5843 magnetometer. Many thanks to Invicta for lending me one of these. This board seems to have a fundamental hardware issue with the on-board capacitors meaning the magnetometer only works about 1% of the time. See http://forum.sparkfun.com/viewtopic.php?f=14&t=14756
2. SF Product ID SEN10125 http://www.sparkfun.com/products/10125
using: ITG-3200 - gyro, ADXL345 accelerometer, HMC5843 magnetometer. Not sure if they fixed the hardware issue or not.
3. SF Product ID SEN10736http://www.sparkfun.com/products/10736] [url]http://www.sparkfun.com/products/10736
[/url] using: ITG-3200 -gyro, ADXL345 accelerometer, HMC5883L magnetometer. New magnetometer is a drop-in replacement for the old one and hopefully they now got the hardware issue fixed ?!
I have now got some code running for revision 1 above based on the board from Invicta. But: due to the SF hardware problem the magnetometer is flakey about 99% of the time. Anyone else out there got one who is willing to receive a .hex file to test for me !!
If you've got a revision 2 or 3 board and are willing then let me know - should be easy enough to come up with a (untested) .hex file for you to test. The only 'known unknowns' to me are how SF orientated the devices on the board and so may need extra playing around to get the co-ordinate axes properly aligned.