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imu_vectornav.c File Reference

Vectornav VN-200 IMU subsystems, to be used with other AHRS/INS algorithms. More...

#include "modules/imu/imu_vectornav.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"
#include "generated/airframe.h"
#include "subsystems/datalink/telemetry.h"
+ Include dependency graph for imu_vectornav.c:

Go to the source code of this file.

Functions

void imu_scale_gyro (struct Imu *_imu)
 
void imu_scale_accel (struct Imu *_imu)
 
static void send_vn_info (struct transport_tx *trans, struct link_device *dev)
 
void imu_vectornav_init (void)
 Init IMU struct and set up ABI messages. More...
 
void imu_vectornav_event (void)
 Event function to read and parse data from the serial port. More...
 
void imu_vectornav_periodic (void)
 Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending data and performs initial configuration if needed. More...
 
void imu_vectornav_propagate (void)
 Send ABI messages. More...
 

Variables

struct ImuVectornav imu_vn
 

Detailed Description

Vectornav VN-200 IMU subsystems, to be used with other AHRS/INS algorithms.

Definition in file imu_vectornav.c.

Function Documentation

void imu_vectornav_event ( void  )

Event function to read and parse data from the serial port.

Definition at line 109 of file imu_vectornav.c.

References imu_vectornav_propagate(), imu_vn, VNPacket::msg_available, vn200_event(), vn200_read_message(), ImuVectornav::vn_data, and ImuVectornav::vn_packet.

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void imu_vectornav_periodic ( void  )

Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending data and performs initial configuration if needed.

Definition at line 128 of file imu_vectornav.c.

References VNPacket::counter, imu_vn, ImuVectornav::vn_freq, ImuVectornav::vn_packet, ImuVectornav::vn_status, VNNotTracking, and VNOK.

void imu_vectornav_propagate ( void  )

Send ABI messages.

Definition at line 149 of file imu_vectornav.c.

References Imu::accel, VNData::accel, ACCELS_BFP_OF_REAL, Imu::gyro, VNData::gyro, imu, IMU_VECTORNAV_ID, imu_vn, VNData::nanostamp, RATES_BFP_OF_REAL, and ImuVectornav::vn_data.

Referenced by imu_vectornav_event().

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static void send_vn_info ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Variable Documentation