Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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imu_ardrone2.h
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1 /*
2  * Copyright (C) 2012-2013 Dino Hensen, Vincent van Hoek
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * Paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
27 #ifndef IMU_ARDRONE2_H_
28 #define IMU_ARDRONE2_H_
29 
30 #include "generated/airframe.h"
31 #include "boards/ardrone/navdata.h"
32 
33 
37 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
38 #define IMU_GYRO_P_SENS 4.359
39 #define IMU_GYRO_P_SENS_NUM 4359
40 #define IMU_GYRO_P_SENS_DEN 1000
41 #define IMU_GYRO_Q_SENS 4.359
42 #define IMU_GYRO_Q_SENS_NUM 4359
43 #define IMU_GYRO_Q_SENS_DEN 1000
44 #define IMU_GYRO_R_SENS 4.359
45 #define IMU_GYRO_R_SENS_NUM 4359
46 #define IMU_GYRO_R_SENS_DEN 1000
47 #endif
48 
52 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
53 #define IMU_ACCEL_X_SENS 19.5
54 #define IMU_ACCEL_X_SENS_NUM 195
55 #define IMU_ACCEL_X_SENS_DEN 10
56 #define IMU_ACCEL_Y_SENS 19.5
57 #define IMU_ACCEL_Y_SENS_NUM 195
58 #define IMU_ACCEL_Y_SENS_DEN 10
59 #define IMU_ACCEL_Z_SENS 19.5
60 #define IMU_ACCEL_Z_SENS_NUM 195
61 #define IMU_ACCEL_Z_SENS_DEN 10
62 #endif
63 
64 #if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
65 #define IMU_ACCEL_X_NEUTRAL 2048
66 #define IMU_ACCEL_Y_NEUTRAL 2048
67 #define IMU_ACCEL_Z_NEUTRAL 2048
68 #endif
69 
70 #if !defined IMU_MAG_X_SENS & !defined IMU_MAG_Y_SENS & !defined IMU_MAG_Z_SENS
71 #define IMU_MAG_X_SENS 16.0
72 #define IMU_MAG_X_SENS_NUM 16
73 #define IMU_MAG_X_SENS_DEN 1
74 #define IMU_MAG_Y_SENS 16.0
75 #define IMU_MAG_Y_SENS_NUM 16
76 #define IMU_MAG_Y_SENS_DEN 1
77 #define IMU_MAG_Z_SENS 16.0
78 #define IMU_MAG_Z_SENS_NUM 16
79 #define IMU_MAG_Z_SENS_DEN 1
80 #endif
81 
82 /*
83  * we include imh.h after the definitions of the neutrals
84  */
85 #include "subsystems/imu.h"
86 
87 extern void imu_ardrone2_init(void);
88 
89 #endif /* IMU_ARDRONE2_H_ */
Inertial Measurement Unit interface.
void imu_ardrone2_init(void)
Definition: imu_ardrone2.c:32