Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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imu_apogee_mpu9150 module

Driver for IMU on Apogee board.

  • Accelerometer/Gyroscope/Mag: MPU9150 via I2C1

Example for airframe file

Add to your firmware section:

1 <module name="imu_apogee_mpu9150"/>

Module configuration options

Airframe file section

  • section name: IMU prefix: IMU_
    • name MAG_X_NEUTRAL value: 2358
    • name MAG_Y_NEUTRAL value: 2362
    • name MAG_Z_NEUTRAL value: 2119
    • name MAG_X_SENS value: 3.4936416
    • name MAG_Y_SENS value: 3.607713
    • name MAG_Z_SENS value: 4.90788848

Auto-loaded modules

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

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw imu_apogee_mpu9150.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_apogee_mpu9150" dir="imu">
<doc>
<description>
Driver for IMU on Apogee board.
- Accelerometer/Gyroscope/Mag: MPU9150 via I2C1
</description>
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="2358"/>
<define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
</section>
</doc>
<autoload name="imu_nps"/>
<autoload name="imu_apogee"/>
<header>
<file name="imu_apogee.h" dir="boards/apogee"/>
</header>
<makefile target="!sim|nps|fbw">
<!-- only add ak8975 mag to "normal" apogee driver -->
<define name="APOGEE_USE_MPU9150"/>
<file name="ak8975.c" dir="peripherals"/>
</makefile>
</module>