Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
imu_chimera module

MPU9250 IMU via I2C.

Basically the same as imu_mpu9250_i2c, only changed axes assignment for Chimera.

Example for airframe file

Add to your firmware section:

<module name="imu_chimera"/>

Files

Raw imu_chimera.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_chimera" dir="imu" task="sensors">
<doc>
<description>
MPU9250 IMU via I2C.
Basically the same as imu_mpu9250_i2c, only changed axes assignment for Chimera.
</description>
</doc>
<dep>
<depends>imu_mpu9250_i2c</depends>
<provides>imu</provides>
</dep>
<makefile target="!sim|nps|fbw">
<configure name="IMU_MPU9250_I2C_DEV" value="i2c1" case="upper|lower"/>
<define name="IMU_MPU9250_CHAN_X" value="1"/>
<define name="IMU_MPU9250_CHAN_Y" value="0"/>
<define name="IMU_MPU9250_CHAN_Z" value="2"/>
<define name="IMU_MPU9250_X_SIGN" value="-1"/>
<define name="IMU_MPU9250_Y_SIGN" value="-1"/>
<define name="IMU_MPU9250_Z_SIGN" value="-1"/>
</makefile>
</module>