ahrs_chimu_uart module

CHimu (UART)

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!

<module name="ahrs_chimu_uart">
  b'<define name="CHIMU_BIG_ENDIAN" value="TRUE" />\n  '
  b'<configure name="CHIMU_UART_NR" value="3" />\n    '
</module>

Module configuration options

Configure Options

• name: CHIMU_UART_NR value: 3
  Description: UART

Define Options

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

Module functions

Init Functions

These initialization functions are called once on startup.

• ahrs_init()

Event Functions

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

• parse_ins_msg()

Files

Header Files

The following headers are automatically included in modules.h

• ins_module.h

Source Files

• modules/ahrs/ahrs_chimu_uart.c
• modules/ins/imu_chimu.c
• modules/ahrs/ahrs.c

Raw ahrs_chimu_uart.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ahrs_chimu_uart" dir="ahrs" task="estimation">
  <doc>
    <description>CHimu (UART)</description>
    <configure name="CHIMU_UART_NR" value="3" description="UART"/>
    <define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
  </doc>
  <dep>
    <depends>uart</depends>
    <provides>ahrs,imu</provides>
  </dep>
  <header>
    <file name="ins_module.h" dir="modules/ins"/>
  </header>
  <init fun="ahrs_init()"/>
  <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_UART$(CHIMU_UART_NR)" value="1"/>
    <define name="INS_LINK" value="uart$(CHIMU_UART_NR)"/>
    <define name="UART$(CHIMU_UART_NR)_BAUD" value="B115200"/>
    <file name="ahrs_chimu_uart.c"/>
    <file name="imu_chimu.c" dir="modules/ins"/>
    <file name="ahrs.c"/>
    <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_chimu.h" type="string"/>
  </makefile>
</module>