Paparazzi UAS  v5.15_devel-50-g4d7045d
Paparazzi is a free software Unmanned Aircraft System.
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imu_chimera module

MPU9250 IMU via SPI.

Basically the same as imu_mpu9250_spi, only changed axes assignment for Chimera.

Example for airframe file

Add to your firmware section:

1 <module name="imu_chimera"/>

Auto-loaded modules

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

Files

Raw imu_chimera.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_chimera" dir="imu">
<doc>
<description>
MPU9250 IMU via SPI.
Basically the same as imu_mpu9250_spi, only changed axes assignment for Chimera.
</description>
</doc>
<autoload name="imu_mpu9250_i2c"/>
<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>