TIMU - Tele Inertial Measurement Unit [IN DEV]

TODO

• [firmware] Test SDCARD logging system;
• [hardware] Put a button to start/stop log recording;

Firmware

This system is capable of collecting telemetry data from a Pixhawk, save them on board with a removable SD CARD and to transmit them to the ground station. The ground station is capable of display this values in real time.

Hardware

This code is ment to be used with an Arduino MKR ZERO (ATSAMD21) with a cube orange pixhawk connected to hardware serial 1 and an SDCARD plugged in the Arduino's slot.

You could configure with messages or group of messages you want to send within the MAVLink menu of QGC:

• MAV_1_CONFIG = TELEM 2
• MAV_1_MODE = Normal
• MAV_1_RATE= 92160 baud (Should be SER_TEL2_BAUD / 10) ie. SER_TEL2_BAUD = 921600 bps
• MAV_1_FORWARD = True

MAV_1_MODE could be change to change group of messages you want to send through TELEM2, in our case.

Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

Values:

• 0: Normal: Standard set of messages for a GCS.
• 1: Custom: Nothing (in the default PX4 implementation). These might be used for testing when developing a new mode.
• 2: Onboard: Standard set of messages for a companion computer.
• 3: OSD: Standard set of messages for an OSD system.
• 4: Magic: Nothing (in the default PX4 implementation). These might be used for testing when developing a new mode.
• 5: Config: Standard set of messages and rate configuration for a fast link (e.g. USB).
• 7: Minimal: Minimal set of messages for use with a GCS connected on a high latency link.
• 8: External Vision

Reboot required: True

Contribute

Use Platform IO and clone this repository in your project directory :

git clone --recursive [email protected]:Kariboo-Corp/TIMU.git

Connect an MKR Zero to your PC and upload the code.

MavLink DATA gathered

• Altitude (10 Hz)
  • altitude_monotic
  • altitude_amsl
  • altitude_local
  • altitude_relative
  • altitude_terrain
  • bottom_clearance
• Attitude (50 Hz)
  • roll
  • pitch
  • yaw
  • rollspeed
  • pitchspeed
  • yawspeed
• Attitude Quaternion (50 Hz)
  • q1
  • q2
  • q3
  • q4
  • rollspeed
  • pitchspeed
  • yawspeed
  • repr_offset_q
• Battery Status (<1 Hz)
  • id
  • battery_function
  • type
  • temperature
  • voltages
  • current_battery
  • current_consumed
  • energy_consumed
  • battery_remaining
  • time_remaining
  • charge_state
  • volatges_ext
  • mode
  • fault_bitmask
• Estimator Status (5 Hz)
  • vel_ratio
  • pos_horiz_ratio
  • pos_vert_ratio
  • mag_ratio
  • hagl_ratio
  • tas_ratio
  • pos_horiz_accuracy
  • pos_vert_accuracy
• Highres IMU (50 Hz)
  • xacc
  • yacc
  • zacc
  • xgyro
  • ygyro
  • zgyro
  • xmag
  • ymag
  • zmag
  • abs_pressure
  • diff_pressure
  • pressure_alt
  • temperature
• Odometry (30 Hz)
  • x
  • y
  • z
  • q
  • vx
  • vy
  • vz
  • rollspeed
  • pitchspeed
  • yawspeed
  • pose_covariance
  • velocity_covariance
• Vibration (<3 Hz)
  • vibration_x
  • vibration_y
  • vibration_z
  • clipping_0
  • clipping_1
  • clipping_2