Paparazzi UAS  v5.15_devel-112-g521f3cf
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ahrs_chimu_spi module

CHimu (SPI)

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

1 <module name="ahrs_chimu_spi">
2  <define name="CHIMU_BIG_ENDIAN" value="TRUE" />
3 </module>

Module configuration options

Define Options

  • name: CHIMU_BIG_ENDIAN value: TRUE
    Description: For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

Module functions

Event Functions

These event functions are called in each cycle of the module event loop.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw ahrs_chimu_spi.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_chimu_spi" dir="ins">
<doc>
<description>CHimu (SPI)</description>
<define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
</doc>
<autoload name="ahrs_sim"/>
<autoload name="spi" type="slave_hs"/>
<header>
<file name="ins_module.h"/>
</header>
<event fun="parse_ins_msg()"/>
<makefile target="ap">
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<define name="USE_AHRS"/>
<define name="USE_INS_MODULE"/>
<define name="USE_SPI"/>
<define name="INS_LINK" value="spi_slave_hs"/>
<define name="USE_USB_HIGH_PCLK" />
<file name="ahrs_chimu_spi.c"/>
<file name="imu_chimu.c"/>
<file name="ahrs.c" dir="subsystems"/>
<define name="AHRS_TYPE_H" value="modules/ins/ahrs_chimu.h" type="string"/>
</makefile>
</module>