Paparazzi UAS  v5.15_devel-81-gd13dafb
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imu_common module

Common part for all IMUs.

No detailed description...

Example for airframe file

Add to your firmware section:

1 <module name="imu_common"/>

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw imu_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_common" dir="imu">
<doc>
<description>
Common part for all IMUs.
</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="body2imu">
<dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PHI" unit="rad" alt_unit="deg" handler="SetBodyToImuPhi" type="float" persistent="true"/>
<dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.theta" shortname="b2i theta" module="subsystems/imu" param="IMU_BODY_TO_IMU_THETA" unit="rad" alt_unit="deg" handler="SetBodyToImuTheta" type="float" persistent="true"/>
<dl_setting MAX="180" MIN="-180" STEP="0.5" VAR="imu.body_to_imu.eulers_f.psi" shortname="b2i psi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PSI" unit="rad" alt_unit="deg" handler="SetBodyToImuPsi" type="float" persistent="true"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="imu.b2i_set_current" values="FALSE|TRUE" shortname="b2i cur roll/pitch" module="subsystems/imu" handler="SetBodyToImuCurrent"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="imu.h" dir="subsystems"/>
</header>
<init fun="imu_init()"/>
<makefile target="!sim|fbw">
<define name="USE_IMU"/>
<file name="imu.c" dir="subsystems"/>
</makefile>
</module>