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Author Topic: CKDevices Mongoose AHRS  (Read 1412 times)

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Offline InvictaTopic starter

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CKDevices Mongoose AHRS
« on: November 10, 2011, 01:48:06 PM »
@Webbot

Good news, my Mongoose has arrived. Have you any firmware ready for me to test?

Regarding your suggestion to use EEPROM to remember the last output format command. In Cory's firmware within the module "ckdevices_Mongoose9DOF_Base_AHRS_1_1.pde" the output can be controlled by the following definitions:

#define PRINT_EULER                      1   //Will print the Euler angles Roll, Pitch and Yaw
#define PRINT_SENSOR_DATA           1   //Will print the Corrected Sensor Data
#define PRINT_SENSOR_DATA_RAW   1   //Will print the raw uncorrected Sensor Data
#define PRINT_DCM                        0   //Will print the whole direction cosine matrix
#define PRINT_MagCal                    0   //By Invicta - Not used yet

Do you plan to make the same choices available in your firmware for compatibility with the Mongoose visualizer?

Could your firmware be designed to store these definitions in EEPROM and change them from a menu called by a terminal program as you suggested for the Razor 9DOF?

Invicta


Offline Webbot

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Re: CKDevices Mongoose AHRS
« Reply #1 on: November 10, 2011, 06:29:24 PM »
The Mongoose visualizer expects data to be output by the Mongoose in a certain way. The #defiine's you have listed, with their default settings in the Mongoose AHRS code, will output stuff in the correct manner for the visualizer. The rest is just for debugging. ie if you tell it to output the DCM matrix (#define PRINT_DCM 1) then, as far as I know, the visualizer will completely ignore that output data.

Firmware for the Mongoose should be ready in a day or 2.
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Offline InvictaTopic starter

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Re: CKDevices Mongoose AHRS
« Reply #2 on: November 11, 2011, 09:51:17 AM »
@Webbot

This I know. ;D

I just thought it would be nice to be able to change the o/p to say EULER angles only without having to recompile and reload the firmware.

Cheers

Offline InvictaTopic starter

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Re: CKDevices Mongoose AHRS
« Reply #3 on: March 20, 2012, 02:53:23 AM »
@Webbot

You have had my Mongoose now for 3 1/2 months, how is the firmware coming on?

Cheers

Offline Webbot

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Re: CKDevices Mongoose AHRS
« Reply #4 on: March 20, 2012, 02:09:34 PM »
Quote
This I know  ;D

Not quite sure why you think emailing me via a public forum is the way to go but hey ho....

Last time we spoke I told you that I hadn't even started looking at it as I have a lot on my plate at the moment including a 'day job'.

You said 'fine' and that you had moved house and would send me a new postal address (still not received) for 'as and when'.

Since you are obviously desperate to get it back then send me your address and I'll return it asap. Since its just another variant on the existing Razor code then I'm sure you'll figure it out  (I'm not a free programming service and its way down my list of stuff to get done).

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