Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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imu_ardrone2.h File Reference

IMU implementation for ardrone2. More...

#include "generated/airframe.h"
#include "boards/ardrone/navdata.h"
#include "subsystems/imu.h"
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Go to the source code of this file.

Macros

#define IMU_GYRO_P_SENS   4.359
 default gyro sensitivy and neutral from the datasheet MPU with 2000 deg/s More...
 
#define IMU_GYRO_P_SENS_NUM   4359
 
#define IMU_GYRO_P_SENS_DEN   1000
 
#define IMU_GYRO_Q_SENS   4.359
 
#define IMU_GYRO_Q_SENS_NUM   4359
 
#define IMU_GYRO_Q_SENS_DEN   1000
 
#define IMU_GYRO_R_SENS   4.359
 
#define IMU_GYRO_R_SENS_NUM   4359
 
#define IMU_GYRO_R_SENS_DEN   1000
 
#define IMU_ACCEL_X_SENS   19.5
 default accel sensitivy from the datasheet 512 LSB/g More...
 
#define IMU_ACCEL_X_SENS_NUM   195
 
#define IMU_ACCEL_X_SENS_DEN   10
 
#define IMU_ACCEL_Y_SENS   19.5
 
#define IMU_ACCEL_Y_SENS_NUM   195
 
#define IMU_ACCEL_Y_SENS_DEN   10
 
#define IMU_ACCEL_Z_SENS   19.5
 
#define IMU_ACCEL_Z_SENS_NUM   195
 
#define IMU_ACCEL_Z_SENS_DEN   10
 
#define IMU_ACCEL_X_NEUTRAL   2048
 
#define IMU_ACCEL_Y_NEUTRAL   2048
 
#define IMU_ACCEL_Z_NEUTRAL   2048
 
#define IMU_MAG_X_SENS   16.0
 
#define IMU_MAG_X_SENS_NUM   16
 
#define IMU_MAG_X_SENS_DEN   1
 
#define IMU_MAG_Y_SENS   16.0
 
#define IMU_MAG_Y_SENS_NUM   16
 
#define IMU_MAG_Y_SENS_DEN   1
 
#define IMU_MAG_Z_SENS   16.0
 
#define IMU_MAG_Z_SENS_NUM   16
 
#define IMU_MAG_Z_SENS_DEN   1
 

Functions

void imu_ardrone2_init (void)
 

Detailed Description

IMU implementation for ardrone2.

Definition in file imu_ardrone2.h.

Macro Definition Documentation

#define IMU_ACCEL_X_NEUTRAL   2048

Definition at line 65 of file imu_ardrone2.h.

#define IMU_ACCEL_X_SENS   19.5

default accel sensitivy from the datasheet 512 LSB/g

Definition at line 53 of file imu_ardrone2.h.

#define IMU_ACCEL_X_SENS_DEN   10

Definition at line 55 of file imu_ardrone2.h.

#define IMU_ACCEL_X_SENS_NUM   195

Definition at line 54 of file imu_ardrone2.h.

#define IMU_ACCEL_Y_NEUTRAL   2048

Definition at line 66 of file imu_ardrone2.h.

#define IMU_ACCEL_Y_SENS   19.5

Definition at line 56 of file imu_ardrone2.h.

#define IMU_ACCEL_Y_SENS_DEN   10

Definition at line 58 of file imu_ardrone2.h.

#define IMU_ACCEL_Y_SENS_NUM   195

Definition at line 57 of file imu_ardrone2.h.

#define IMU_ACCEL_Z_NEUTRAL   2048

Definition at line 67 of file imu_ardrone2.h.

#define IMU_ACCEL_Z_SENS   19.5

Definition at line 59 of file imu_ardrone2.h.

#define IMU_ACCEL_Z_SENS_DEN   10

Definition at line 61 of file imu_ardrone2.h.

#define IMU_ACCEL_Z_SENS_NUM   195

Definition at line 60 of file imu_ardrone2.h.

#define IMU_GYRO_P_SENS   4.359

default gyro sensitivy and neutral from the datasheet MPU with 2000 deg/s

Definition at line 38 of file imu_ardrone2.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 40 of file imu_ardrone2.h.

#define IMU_GYRO_P_SENS_NUM   4359

Definition at line 39 of file imu_ardrone2.h.

#define IMU_GYRO_Q_SENS   4.359

Definition at line 41 of file imu_ardrone2.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 43 of file imu_ardrone2.h.

#define IMU_GYRO_Q_SENS_NUM   4359

Definition at line 42 of file imu_ardrone2.h.

#define IMU_GYRO_R_SENS   4.359

Definition at line 44 of file imu_ardrone2.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 46 of file imu_ardrone2.h.

#define IMU_GYRO_R_SENS_NUM   4359

Definition at line 45 of file imu_ardrone2.h.

#define IMU_MAG_X_SENS   16.0

Definition at line 71 of file imu_ardrone2.h.

#define IMU_MAG_X_SENS_DEN   1

Definition at line 73 of file imu_ardrone2.h.

Referenced by imu_scale_mag().

#define IMU_MAG_X_SENS_NUM   16

Definition at line 72 of file imu_ardrone2.h.

Referenced by imu_scale_mag().

#define IMU_MAG_Y_SENS   16.0

Definition at line 74 of file imu_ardrone2.h.

#define IMU_MAG_Y_SENS_DEN   1

Definition at line 76 of file imu_ardrone2.h.

Referenced by imu_scale_mag().

#define IMU_MAG_Y_SENS_NUM   16

Definition at line 75 of file imu_ardrone2.h.

Referenced by imu_scale_mag().

#define IMU_MAG_Z_SENS   16.0

Definition at line 77 of file imu_ardrone2.h.

#define IMU_MAG_Z_SENS_DEN   1

Definition at line 79 of file imu_ardrone2.h.

Referenced by imu_scale_mag().

#define IMU_MAG_Z_SENS_NUM   16

Definition at line 78 of file imu_ardrone2.h.

Referenced by imu_scale_mag().

Function Documentation

void imu_ardrone2_init ( void  )

Definition at line 32 of file imu_ardrone2.c.

References navdata_init().

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