ADUS16448 IMU Driver Support

Deafro · September 20, 2018, 1:35pm

I’m working to use a ADIS16448 IMU with the Ocpoc-Zynq using Ardupilot as the flight stack. I can’t find any mention for the ADIS16448 in the Ardupilot source code, but the PX4 flight stack does have its own set of drivers. Is there a way to use these drivers in Ardupilot? The development site has instructions on making my own sensor drivers, but I’d rather not duplicate the effort if I don’t need to.

PX4 Drivers:

github.com

PX4/Firmware/blob/master/src/drivers/imu/adis16448/adis16448.cpp

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Sensor Drivers Guide:
http://ardupilot.org/dev/docs/code-overview-sensor-drivers.html

ppoirier · September 21, 2018, 1:02am

What board releases do you have?
According to the board definition here , the OCPOC uses a mpu9250

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_HAL/board/linux.h

#pragma once

#define HAL_BOARD_NAME "Linux"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_OS_SOCKETS 1
#define HAL_STORAGE_SIZE            16384
#define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE

#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
#define HAL_BOARD_LOG_DIRECTORY "logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
#define HAL_BOARD_STORAGE_DIRECTORY "."
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270

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Btw the ADIS16448 is an awesome IMU , it is used extensively in Visual Inertial Odometry systems

Deafro · October 10, 2018, 5:48pm

I’ve got the OcPoc_Zynq. It does use a MPU9250, but I’d like to get the ADIS16448 working since we’ve got one on hand. I’m not sure how to map the registers though. I’ve never built a driver, and the system uses burst read functionality, which seems different from the other IMU’s already included in ardupilot.

ppoirier · October 10, 2018, 7:18pm

I suggest you ask for guidance on the developper’s channel. https://gitter.im/ArduPilot/ardupilot
Oups, I see you already asked