Paparazzi UAS  v5.15_devel-46-gd23ed71
Paparazzi is a free software Unmanned Aircraft System.
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imu_aspirin_defaults.h File Reference

Default sensitivity definitions for IMU Aspirin 1x. More...

#include "generated/airframe.h"
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Go to the source code of this file.

Macros

#define IMU_GYRO_P_SENS   4.973
 default gyro sensitivy and neutral from the datasheet ITG3200 has 14.375 LSB/(deg/s) sens = 1/14.375 * pi/180 * 2^INT32_RATE_FRAC sens = 1/14.375 * pi/180 * 4096 = 4.973126 More...
 
#define IMU_GYRO_P_SENS_NUM   4973
 
#define IMU_GYRO_P_SENS_DEN   1000
 
#define IMU_GYRO_Q_SENS   4.973
 
#define IMU_GYRO_Q_SENS_NUM   4973
 
#define IMU_GYRO_Q_SENS_DEN   1000
 
#define IMU_GYRO_R_SENS   4.973
 
#define IMU_GYRO_R_SENS_NUM   4973
 
#define IMU_GYRO_R_SENS_DEN   1000
 
#define IMU_ACCEL_X_SENS   37.91
 default accel sensitivy from the ADXL345 datasheet sensitivity of x & y axes depends on supply voltage: More...
 
#define IMU_ACCEL_X_SENS_NUM   3791
 
#define IMU_ACCEL_X_SENS_DEN   100
 
#define IMU_ACCEL_Y_SENS   37.91
 
#define IMU_ACCEL_Y_SENS_NUM   3791
 
#define IMU_ACCEL_Y_SENS_DEN   100
 
#define IMU_ACCEL_Z_SENS   39.24
 
#define IMU_ACCEL_Z_SENS_NUM   3924
 
#define IMU_ACCEL_Z_SENS_DEN   100
 

Detailed Description

Default sensitivity definitions for IMU Aspirin 1x.

Definition in file imu_aspirin_defaults.h.

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   37.91

default accel sensitivy from the ADXL345 datasheet sensitivity of x & y axes depends on supply voltage:

  • 256 LSB/g @ 2.5V
  • 265 LSB/g @ 3.3V z sensitivity stays at 256 LSB/g fixed point sens: 9.81 [m/s^2] / 256 [LSB/g] * 2^INT32_ACCEL_FRAC x/y sens = 9.81 / 265 * 1024 = 37.91 z sens = 9.81 / 256 * 1024 = 39.24

what about the offset at 3.3V?

Definition at line 80 of file imu_aspirin_defaults.h.

#define IMU_ACCEL_X_SENS_DEN   100

Definition at line 82 of file imu_aspirin_defaults.h.

#define IMU_ACCEL_X_SENS_NUM   3791

Definition at line 81 of file imu_aspirin_defaults.h.

#define IMU_ACCEL_Y_SENS   37.91

Definition at line 83 of file imu_aspirin_defaults.h.

#define IMU_ACCEL_Y_SENS_DEN   100

Definition at line 85 of file imu_aspirin_defaults.h.

#define IMU_ACCEL_Y_SENS_NUM   3791

Definition at line 84 of file imu_aspirin_defaults.h.

#define IMU_ACCEL_Z_SENS   39.24

Definition at line 86 of file imu_aspirin_defaults.h.

#define IMU_ACCEL_Z_SENS_DEN   100

Definition at line 88 of file imu_aspirin_defaults.h.

#define IMU_ACCEL_Z_SENS_NUM   3924

Definition at line 87 of file imu_aspirin_defaults.h.

#define IMU_GYRO_P_SENS   4.973

default gyro sensitivy and neutral from the datasheet ITG3200 has 14.375 LSB/(deg/s) sens = 1/14.375 * pi/180 * 2^INT32_RATE_FRAC sens = 1/14.375 * pi/180 * 4096 = 4.973126

Definition at line 55 of file imu_aspirin_defaults.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 57 of file imu_aspirin_defaults.h.

#define IMU_GYRO_P_SENS_NUM   4973

Definition at line 56 of file imu_aspirin_defaults.h.

#define IMU_GYRO_Q_SENS   4.973

Definition at line 58 of file imu_aspirin_defaults.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 60 of file imu_aspirin_defaults.h.

#define IMU_GYRO_Q_SENS_NUM   4973

Definition at line 59 of file imu_aspirin_defaults.h.

#define IMU_GYRO_R_SENS   4.973

Definition at line 61 of file imu_aspirin_defaults.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 63 of file imu_aspirin_defaults.h.

#define IMU_GYRO_R_SENS_NUM   4973

Definition at line 62 of file imu_aspirin_defaults.h.