--- Mike Whincup <email@example.com> wrote:
> The ADC is (only) 10bit - Ignoring any improvements
> possible with dither, on a +/- 10g IMU, the
> precision will be only about 0.2 m/s^2 (quite poor
> relative to the accuracy of the accelerometers
> themselves). Is there a practical way of increasing
> this precision. If not, i will have to consider
> using an integrated digital IMU (something i wanted
> to avoid for cost and because I wantered to implment
> my own filters on the Robostix), or alternatively an
> auxiliary ADC (I assume one can buy such a thing).
I use 3-axis accelerometer with digital interface:
It's not (much) more expensive than analog ones.
There's also 3-axis digital magnetometer:
I wish I could find inexpensive digital gyros,
but in the mean time I'm using 2 of these
connected to the ADC on Robostix.
Remaining ADC inputs are used to measure power supply.
> Additionally, I noticed that the Robostix has 6
> dedicated PWM terminals. Can I program the other
> GPIO pins to perform the same function (whilst
> carrying the power direct to the servos).
There's a couple of PWM on the Gumstix, but
they are 3V, in any case 6 PWMs is enough for me:
2 for ailerons, 1 flaps, 2 to the tail and 1 for ESC.
What else is there to control with PWM ?
You definitely can try software PWM with any GPIOs.
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