Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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imu_aspirin_v2.2 module

Aspirin v2.2 IMU.

  • Accelerometer/Gyrocope: MPU6000 via SPI
  • Magnetometer: HMC58xx via I2C Nearly identical with v2.1, only has the MS5611 baro on SPI. For configuration see the imu_aspirin_v2_common module

Example for airframe file

Add to your firmware section:

1 <module name="imu_aspirin_v2.2"/>

Auto-loaded modules

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

Files

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_aspirin_v2.2" dir="imu">
<doc>
<description>
Aspirin v2.2 IMU.
- Accelerometer/Gyrocope: MPU6000 via SPI
- Magnetometer: HMC58xx via I2C
Nearly identical with v2.1, only has the MS5611 baro on SPI.
For configuration see the imu_aspirin_v2_common module
</description>
</doc>
<autoload name="imu_aspirin_v2_common"/>
<makefile target="!sim|nps|fbw|hitl">
<!-- SLAVE3 is on PC13, which is the baro CS -->
<define name="DUSE_SPI_SLAVE3"/>
</makefile>
</module>