Sylphide 取扱説明書
Contents
1.2.
3. Sylphide 1 2 LEDI 4 400 LED e LEDI 0 2 1 1 AD AD7739 3 4 1 4 e LED
4. IMU type calibration h Sylphide IMU 9001 14 options 1 MU Measurement update TU TIme update sec GPS ITOW deg deg WGS84 m m s m s m s deg deg deg deg X Y Z m s2 X Y Z rad s 8 00000000000 81 0000 Sylphide 15 16 30 Sylphide 4 82 00000000000000000 0 Subversion URL e hardware e manual e misc
5. USB Sylphide PC USB USB USB 1 5V 5V USB Sylphide PC 2 1 SD 6 DIP 2 SD SD USB PC SD SD 3 00000 e INS GPS 6 GPS Air Data Sensor ADS PWM 2 GPS 30 UBX UBX u blox
6. USB 1 log CSV exe COMn direct sylphide on options Sylphide n e out A sec GPS 1 8 A D 24515 A D 8bits ch1 3 X Y Z ch4 6 X Y Z e out G sec GPS ITOW deg deg GWS84 m 2D m m m s m s m s m s e sec GPS ITOW Y X Z e out N sec GPS ITOW deg deg WGS84 m m s m s m s deg deg deg 7 2 log AD calib CSV exe log dat 6DOF 3 3 DO A D
7. 1 SylphideQ 0000 INS GPSO00000000 1 Sylphide 1 X Z M2 4 1 78in 45 2mm 25 2 SD SD 16 2GB SDHC Silicon Power SD 3 GPS MCX 3 3V GPS 4 1 DIP DSW1 OFF 1 DIP 80 ON OFF 5 5V 2 2 1mm 6 5 de 2 LED4 1 LED4 1 LED 1 8 9 10 SD SD SD PC SD FAT16 Windows MacOSX LINUX PC 11 SD log dat log dat SD SD log dat 7 GPS 10 2 3 GPS 1 1220
8. 6 DSP Sylphide 0000000 1000 Code Composer Studio CCS 1 H HH H B B E D D UI D 000 00 4 1000 000 3365 10 000 000 000 000 6 1 16 000000 DSP BIOS 5 33 06 Fast RTSO DSPLIB 1 LJ LJ LU d 000 5 amp 0 00000000000000000000 FlashBurn DSK 3 11 000 DSK6713 16 bit flash support DSPO JOG 000 DSPOO OOO 000000006 0 UN LL Length 8 FPGA IR Length 6 DSP IR Length 46 0000
9. 32byte 2 0x1000 0x101F 0x1020 0x 103F 0 1040 0 105 Ibyte e 0 41 31byte AD 27 e 0 40 31byte PWM 4 e 0 0 47 31byte GPS UBX e M 0x4D 31byte e N OxAB 31byte e P 0x50 31byte P 0 1000 0 1100 GPS 51 0 41 OxC8 LSB 2 5 0 0x1B 0 00 0x00 GPS Little Endian msec 7120
10. Sylphide FTDI Mimic Device Full Debug I F Load VCP 5 Sylphide 6 inf ftdiport sys FTDI 7 COM LTR Sylphide FTDI Mimic Device Full Debug I F COMn 6 2 0000000 USB SD 2 9 10 32bytes 9
11. 0 4 N 1 0 03 3 2 0x00 0 3 0x00 00 9 4 7 0 0x1B 0x00 0x00 GPS Little Endian msec 7120 8 11 OxC8 0x6F 0x49 0 15 Little Endian signed 0 0000001 deg 35 713428 12 15 0x28 0x09 Ox4E 0x53 Little Endian signed 0 0000001 deg 139 762308 16 19 0x00 0x35 0x0C 0x00 Little Endian signed 0 0001m 80 20 21 0x32 0x00 Little Endian signed 0 01m 0 5 22 23 Ox9C OxFF Little Endian signed 0 01m 1 0 24 25 0x05 0x00 Little Endian signed 0 01m 0 05 26 27 0x39 0x30 JU Little Endian signed 0 01deg 123 45 28 29 Ox2E OxFF Little Endian signed 0 01deg 2 1 30 31 0x7B 0x00 Little Endian signed 0 01deg 1 23 0x50 0x00 0x00 OxC8 LSB 4 7 0xD0 Ox1B 0x00 0x00 GPS Little Endian msec 8 nx2 9 nx2 0x12 0x34 Windows
12. Sylphide L W H 51x51x45 mm 81g 5V 1 2A DC 5V 2 1 mm USB mini B 16 Sylphide MEMS EPSON TOYOCOM AH 6100LR 6DOF 1 GPS u blox LEA 4T 4 Hz Honeywell HMC5843 301 A D AnalogDevices AD7739 LA 24bit DSP Texas Instruments TMS320C6713B 1200 5 DSP Silicon Laboratories C8051F340 Intel 8051 USB 48MIPS Xilinx XC3S200 FPGA 20 84 00000000 8051 DSP FPGA 3 8 4 1 8051 8051 C8051F340DK 5 sdcc C 2 8 0 5117 8 4 2 DSP XDS510 XDS560 spectrum digital Blackhawk DSP seed DSP XDS100 5 C8051 Sylphide 000000 Sylphide 0 0060 6000000
13. CSV 1 log AD calib CSV exe IMU type log dat options IMU type calibration h Sylphide IMU 9001 12 calib file spec 12 Sylphide log AD calib CSV exe options rotate Z x y calib_file calib txt StandardCalibrator calibration
14. CustomStandardC alibrator calib file calib txt Gyro Sensor Accelerometer Air Data Sensor EPSON TOYOCOM optional AH6100 LR Magnetic xyz A D Converter Honeywell 5843 Analog Devices AD7739 Internal Temperature Sensor aaa Internal ______ p A D Converter H Recorder Silicon Laboratories C8051F340 Calculation Texas Instruments TMS320C6713B Xilinx Interface 829 4th 3 Sylphide 4 Sylphide 15 Sylphide
15. log dat CSV 8bits 4bits 3bits 1 RESERVED 1 2 3 2bytes Littile Endian 4 5 2bytes Littile Endian 6 6 N 1 N bytes 6 N 6 N 1 1 log CSV exe log dat options CRC 16 2bytes CRC 1 00 110 options 11 log CSV exe
16. 2 00000000 DIP DSW1 DIP DSW1
17. 8bits 4bits 3bits 1 RESERVED 0 bytes Littile Endian 32 bytes CRC 16 2bytes CRC 35 Little Endian 7 0000000000000 4 Windows http fenrir naruoka org download embedded Sylphide tools zip 86 Visual Studio Express Edition 2008 Microsoft Visual C 2008 x86 71 log CSV exe
18. Custom USB 1 log AD calib CSV exe COMn direct sylphide on options Sylphide n A D 7 3 log2ubx exe log dat G sec GPS u blox GPS ITOW X Y Z m s2 X Y Z rad s ubx 1 log2ubx exe log dat options 13 options out filename COMn 13 log2ubx exe
19. AD7739 24bit AD 0 n 7 6 x 3 8 n x 3 0xA3 OxCA 0x6A 10734186 Big Endian 30 31 0 05 0x01 AD Little Endian 261 53 G UBX ANTARIS 4 Technical Documents 54 0 0 46 1 0 00 2 0 00 3 0 8 LSB 4 7 0 0x1B 0x00 0x00 Little Endian msec 0 ms 0 n 7 H 4 H 4 L 8 n x 3 102 2 x 3 0x5B 0xB8 Ox4D 0
20. AD 0 lt n lt 11 Little Endian Sylphide Windows PC Sylphide COM 1 inf FTDI 2 2 Sylphide PC 3 inf ftdibus sys FTDI USB
21. out log ubx ubx 7 4 analyze exe log dat u center INS GPS 1 analyze exe IMU type log dat options
22. C D 1180 82 17 2D C9 39 5C 68 16 51 B2 40 29 DD 06 01 _ 9 h 0 0 1100 41 D3 1C 00 00 16 92 CD DC 43 91 6D C4 gt 1100 82 E6 DF 24 84 39 8B 14 16 55 51 CO 34 99 05 01 9 08 4 11E0 41 04 48 1C 00 00 EE 0B 12 DO 9B C3 8F 38 C4 A H 8 11F0 85 2D 01 39 44 96 58 FA CO 7A 0501 n 1200 41 05 52 1C 00 00 FO FA 12 D3 CD C3 8C 78 C4 x 1210 86 BE 5F 2D 94 39 4E BD 96 5C 98 BF DI C2 05 01 _ 9 1220 41 06 5C 1 00 00 23 F3 E3 12 06 94 88 10 04 4 1230 87 93 DF 2C BI 3D 55 96 60 4F 40 08 2B 05 01 stc 08 1940 A1 AR 10 NN NN 23 FR NI 92 PE 98 RE DA A h 5 0 2 logdat QO 000000000000000
23. Register ANTARIS 4 Technical Documents INS GPS 50Hz 3D WGS84 AH 6100LR EPSON TOYOCOM 24bit 100Hz AD MEMS 6DOF 3 AD7739 C8051F340 10bit 100Hz AD LEA 4T u blox GPS HMC5843 Honeywell 3 GPS NAV POSLLH 1 4sec NAV STATUS NAV DOP NAV SOL NAV VELNED NAV SVINFO RXM RAW 4 Sylphideg
24. GPS 10 1 4 INS GPS e LED3 0 LED SD SD SD e LED4 0 000000000000 000 10000000000 LEA 4T GPS O 1 5 000000000 Sylphide 000000000000 200000 4 00000 00000 0 0 0 0 0 0 log dat 000000000 32 0 20 0 20 log dat 0000000000000000000 7 39 3 4 15 16 TE D UB 1000 41 C8 DO 1B 00 00 CA BA 92 AC 43 94 9F 44 A 1010 85 11 5F 2F 74 B9 96 96 2C FE 1C 05 01 br SY Damas 1020 41 C9 DA 1B 00 00 CD 76 92 AF FA 43 80 BE 44 A v C D 1030 83 EA DF 24 5D 39 7E 36 16 30 69 CO 22 19 06 01 x 96 ihe 1040 41 E4 1B 00 00 00 60 12 B2 C3 89 82 44 D 1050 86 E6 2C 26 97 C7 96 34 23 F9 DC 05 01 _ amp 4 1060 41 EE 1B 00 00 03 40 92 B5 E9 C3 86 6D C4 A Ma
25. e 2 C8051 NAV2 Core DSP NAV2 IOModule VHDL e tool 8 3 0000 4 2 4 2 6 e MEMS J INS GPS 14 analyze exe init yaw deg numdeg init yaw deg 0 use_magnet on off dump correct on off dump q n2b on off init yaw deg use_magnet off start gpst 123456 78 end gpst 234567 89 out analyzed txt 100Hz dump u
26. 00000000000000000000000710000000000000000000 0 000000000000000000 8 4 3 FPGA Xilinx 00000000000 000 webPAck 000 0000000000000006 70000000 0000 07 Sylphide D 00 00000 000000000000 2 0000000 00000000000 2 0000000000000000000000 000000000 80000 3 3 0000000 0000000000000000 CON20 20000 5000000000000 us 0000000000000 Rev A GPS
27. Sylphide 0 O0 0 0 Rev C 20110 20 30 e INS GPS Sylphide 800000000 00000000000 00000 Sylphide C1 INS GPS 000000000 99 HA A A NE k 000000 O 1 Sylphide 0 0000000000000000000000 000
28. pdate on dump correct on rotate Z x y dump q n2b on log covP on off log covP on est_bias on off est_bias on use_udkf on off Unscented Kalman Filter off use_udkf on packet on off N out N packet on lae spec GPS lever arm effect h 071004 calib file spec IMU type Custom
29. ss m 1070 86 BB SF 24 BI 84 30 96 37 E5 CO 23 AB 05 01 _ 0 7 1080 41 CC F8 1B 00 00 23 06 56 12 B8 9 43 83 AA 44 A Y C D 1090 95 29 29 A BO 2 28 96 89 40 11 A2 05 01 _ 1040 41 CD 02 1C 00 00 23 09 46 92 BB DC 43 85 E4 C4 A HF C 1080 86 B6 5F 29 23 BO 9 82 96 BF CE 43 06 01 _ 1000 41 CE 1C 00 00 DC 4B 12 BE AB C3 87 BD 44 A D 1000 84 04 29 0B 39 97 09 96 42 40 35 13 05 01 _ 9 5 10 0 41 CF 16 1C 00 00 23 DF 3D 92 CI CD 43 8C 99 44 0 10F0 92 DF 27 B9 60 AA 96 46 BF E6 8D 05 01 m F 1100 47 20 00 00 00 00 00 00 00 00 80 51 85 62 G a b 21110 01 06 34 00 58 1B 00 00 00 00 00 00 00 00 00 20 4 X 1120 41 DO 20 1C 00 00 A3 2 26 12 C4 B3 43 8F 07 C4 A amp C 1130 80 80 24 22 BO F4 16 4A 3D CO 2D 68 05 01 _ J h 1140 47 00 00 00 00 00 00 00 00 AF 65 E4 25 40 EO Fb G eh 1150 05 00 00 00 00 00 00 00 00 00 00 00 00 40 EO Fb 1160 47 05 OF 27 00 00 00 00 00 00 15 C6 Bb 62 01 02 G b 21110 1C 00 58 1B 00 00 00 00 00 00 00 E9 44 35 20 Al X Dus 1180 4101 2A 1C 00 00 5 35 92 C 08 43 92 74 44 A x 5 C 1190 B6 DF 2A 5D 39 83 CD 96 4D EB CO 22 97 05 01 9 1140 41 02 34 IC 00 00 ES 2C 92 CA 93 43 94 FC 44 4
30. x80 0x00 0xC8 LSB 4 7 0xD0 0x1B 0x00 0 00 Little Endian 0 lt n lt 3 dian signed X 0 n lt 3 dian signed Z 0 lt n lt 3 Big Endian signed Enx6 9 nx6 0x01 0x23 nx6 1 nx6 0xDC Enx6 13 nx6 0x01 0x23 6 958 00000000000000000 200 Sylphide 0 USB
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