Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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imu_px4fmu_v2.4.h
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2  * Copyright (C) 2013-2016 the paparazzi team
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4  * This file is part of paparazzi.
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21 
28 #ifndef IMU_PX4FMUV24_H
29 #define IMU_PX4FMUV24_H
30 
31 #include "std.h"
32 #include "generated/airframe.h"
33 #include "subsystems/imu.h"
34 
36 #include "peripherals/l3gd20_spi.h"
38 
39 #ifndef IMU_PX4_DISABLE_MAG
40 #if MODULE_HMC58XX_UPDATE_AHRS
41 #define IMU_PX4_DISABLE_MAG TRUE
42 #else
43 #define IMU_PX4_DISABLE_MAG FALSE
44 #endif
45 #endif
46 
47 struct ImuPX4 {
48  struct L3gd20_Spi l3g;
51 };
52 
53 extern struct ImuPX4 imu_px4;
54 
55 extern void imu_px4_init(void);
56 extern void imu_px4_periodic(void);
57 extern void imu_px4_event(void);
58 
59 #endif /* IMU_PX4FMUV24_H */
Driver for ST LSM303D 3D accelerometer and magnetometer.
struct Lsm303d_Spi lsm_acc
Default sensitivity definitions for the Pixhawk IMU using the l3d20 gyro and lsm303dlc acc...
Driver for L3GD20 3-axis gyroscope from ST using SPI.
void imu_px4_event(void)
struct L3gd20_Spi l3g
struct ImuPX4 imu_px4
Inertial Measurement Unit interface.
void imu_px4_init(void)
struct Lsm303d_Spi lsm_mag
void imu_px4_periodic(void)