New Open source IMU (Inertial Measurement Unit)

We have re-designed our flight electronics from EMAV 2009 and have separated it into individual modules. These modules consist now of:

  • An IMU/motor control unit (LPC2148 60 MHz MCU board)
  • A Gumstix Overo baseboard
  • A power/servo/radio modem board
  • An Intel Core 2 DUO baseboard (see blog post below for details)

Our IMU design will be made available as open-source electronics. It is a new design with custom software, but to allow people to switch to it, we made sure that the most important pins are Paparazzi TWOG v2 compatible (which is not an IMU, but rather a MCU interface board).
The software itself is written from scratch, however we would like to thank the Paparazzi guys for some peripheral drivers and the USB bootloader we could leverage.

The PCB is 30.2 x 40 mm (1.19” x 1.57”), weights only a few grams and features 3D accelerometer, 3D gyroscopes and 3D magnetometer as well as a digital barometric pressure sensor with 0.25 m (10”) resolution.
We have working software for attitude fusion based on a complimentary filter, but two of our students are also working on a Kalman filter based fusion, which will even improve the result.

Interface Summary
  • Dimensions: 30.2 x 40 mm (1.19” x 1.57”)
  • Weight: ~ 15g
  • Wide input voltage range: 3.7-5.0V
  • USB bootloader (Linux and Windows)
  • Reset pushbotton for easy flashing
  • 2x UART
  • I2C
  • SPI
  • GPIO
  • ADC
  • JTAG
  • EEPROM for onboard parameters
  • PPM in
  • PPM output (servo connectors on power board)


We have not yet made the design available, but will do so soon. Please Contact us if you're interested in earlier access.

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Project

Related Sites

Micro Air Vehicles

2009-2011 System

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