Sparkfun Razor 6DOF and Duemilanove

[demands]

Hi everybody,

To start with, I'm completely new to multicopters, just started to build (get the parts) to my first tricopter.
I have some components, and I would very much like to know if they will work.
I bought most of my parts a year ago, before I heard about MultiWii, thinking I'd write the sw myself (I'm a professional developer, though I know very little about IMU's, PID, Kalman and everything else required to fly )...
Since I haven't done much work yet, I think I'll start with MultiWii instead

I'm going to try out everything using Arduino Duemilanove and breadboard before building the real deal, so question #1 is:
Will Duemilanove work with MultiWii (disregard its size, I'm thinking PINs etc)??

#2 question, I have a Sparkfun Razor 6DOF board (http://www.sparkfun.com/products/10010), which gives me 3 axis acc and 3 axis gyro. Can someone Please point me in the right direction to what has to be done to make this work with MultiWii? I've seen posts about ADXL335, one containing code changes, and one stating that enabling ADCACC should be enough. Which is it?? And that only covers the ACC, not my gyro's (which are actually ST's LPR530AL, pitch and roll, and LY530ALH yaw)...

Any help/ideas/comments is greatly appriciated (even people saying it's not worth trying )
Code changes required, schematic (MiniPro schema would work, think I'll use this in the end), anything you can think of...

Best Regards,
demands

[Alexinparis]

1) yes, the important thing is the processor and the frequency. Every board with an atmel 328p cadenced at 16MHz and running under 5V will work with multiwii provided there are enough outputs.

2) the code is not ready to support analogical gyroscopes, but the adaptation would be very easy. The code can already support analogical acc, but there is maybe a variable to adjust: acc_1G

[demands]

Thanks Alex,

I guess the code in "ADXL335 analog ACC" (viewtopic.php?f=6&t=521) is sufficient for the ADXL335, it seems to account for the acc_1G...
I'll try it out with the Config GUI and my Duemi...
And, I'll try to figure out how to add functionality to handle the gyro's myself.
Success (and failure ) will be posted here eventually, though I don't have much time within the next weeks, so don't expect to much of me

[wapko]

i actually did just the same as you. bought a razor 6dof, planning to use some cutnpaste code. i think i found an instructable using this sensor too. then I discovered multiwii. havent touched the razor 6dof since.

Im not proficient in programming at this level. so if you get this working. i wont have a 60$ razor 6dof in my drawer doing nothing. i'm guessing its a matter of getting the gyro values in the correct vars in the multiwii code. how would polling 6 analog inputs affect the PID loop cycle time, i wonder. .. i'm not at home at the moment, but i might have a stab at this when i get home. i've been wanting to look into this, but was lazy and bough wmp clones instead

another thing.. i read somewhere that these analog gyro sensors are much more sensitive to vibration. but have no experience.. so i guess we'll have to see.

otherwise i may use this 6dof for some robot or segway clone..

[demands]

Well wapko, I'm pretty satisfied with the 6dof itself, but it's not very good for MW... Although I still use it (the acc), if I were to build another *copter, I would use I2C sensors only...

I have the acc working, you can use the "standard" ADCACC code with a new value for acc_1g (something like 68, but you can measure your own if you like).
I haven't tested using the gyro at all with MW, since I have an original WMP for gyro... Not sure if it will work, there might be a problem using the range (300 or 1200 deg/s)...

I'd suggest you read the following two threads, both about the 6dof (mostly about accelerometer):
viewtopic.php?f=6&t=521
viewtopic.php?f=8&t=561

//demands

[wapko]

hmm. i think i wont use it for MW then, any knowledge of "the enemy" (KK) using the lpr/lpy 530 gyros.. i know the 550 gyros work on it..
might give that a go.. just a mess of different components. gain trims , caps and stuff. rather use the gyros for flying than only the acc for stabilisation.

thanks for you input

[Drifter]

Hi, new here but I am using the 6DOF unit and Multiwii software v1.7. I have an Aeroquad Mini shield with the Arduino mini pro and the 6DOF board and level converter board. It works good on the Multiwii configurator program and I have flown the tricopter once successfully. I would guess that the Arduino Duemilanove uses the same chip,Atmel 328p, 16MHz, 5V.
I decided to try the Multiwii software instead of the Aeroquad because I have a tricopter. It turned out a bit heavy so I am re designing it at the moment.
The only thing that puzzles me is that the 6DOF works rotated 90degrees in the horizontal plane compared to the Aeroquad setup.
Does anyone have the answer for this.