imu_common module

Common part for all IMUs.

This takes the IMU_GYRO_RAW, IMU_ACCEL_RAW and IMU_MAG_RAW ABI messages as input.

Example for airframe file

Add to your firmware section:

<module name="imu_common"/>

Module configuration options

Airframe file section

• section name: IMU prefix: IMU_
  • name INTEGRATION value: FALSE
    Description: Enable gyro/accel integration calculations (enabled for the ekf2)
  • name GYRO_CALIB value: {}
    Description: Gyroscope calibration structures list (see struct imu_gyro_t)
  • name ACCEL_CALIB value: {}
    Description: Accelerometer calibration structures list (see struct imu_accel_t)
  • name MAG_CALIB value: {}
    Description: Magnetometer calibration structures list (see struct imu_mag_t)
  • name GYRO_ABI_SEND_ID value: ABI_BROADCAST
    Description: The gyro ABI ID which is send over telemetry/logging
  • name ACCEL_ABI_SEND_ID value: ABI_BROADCAST
    Description: The accel ABI ID which is send over telemetry/logging
  • name MAG_ABI_SEND_ID value: ABI_BROADCAST
    Description: The mag ABI ID which is send over telemetry/logging
  • name LOG_HIGHSPEED value: FALSE
    Description: Log all the accel/gyro measurements at the IMU sampling rates in floats
  • name LOG_HIGHSPEED_DEVICE value: flightrecorder_sdlog
    Description: The device to log all the highspeeds measurements

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_init()

Files

Header Files

The following headers are automatically included in modules.h

• imu.h

Source Files

• modules/imu/imu.c

Raw imu_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_common" dir="imu" task="sensors">
  <doc>
    <description>
      Common part for all IMUs.
 
      This takes the IMU_GYRO_RAW, IMU_ACCEL_RAW and IMU_MAG_RAW ABI messages as input.
    </description>
    <section name="IMU" prefix="IMU_">
      <define name="INTEGRATION" value="FALSE" description="Enable gyro/accel integration calculations (enabled for the ekf2)"/>
      <define name="GYRO_CALIB" value="{}" description="Gyroscope calibration structures list (see struct imu_gyro_t)"/>
      <define name="ACCEL_CALIB" value="{}" description="Accelerometer calibration structures list (see struct imu_accel_t)"/>
      <define name="MAG_CALIB" value="{}" description="Magnetometer calibration structures list (see struct imu_mag_t)"/>
      <define name="GYRO_ABI_SEND_ID" value="ABI_BROADCAST" description="The gyro ABI ID which is send over telemetry/logging"/>
      <define name="ACCEL_ABI_SEND_ID" value="ABI_BROADCAST" description="The accel ABI ID which is send over telemetry/logging"/>
      <define name="MAG_ABI_SEND_ID" value="ABI_BROADCAST" description="The mag ABI ID which is send over telemetry/logging"/>
      <define name="LOG_HIGHSPEED" value="FALSE" description="Log all the accel/gyro measurements at the IMU sampling rates in floats"/>
      <define name="LOG_HIGHSPEED_DEVICE" value="flightrecorder_sdlog" description="The device to log all the highspeeds measurements"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings name="IMU">
        <dl_setting var="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" min="-90" max="90" step="0.5"  module="modules/imu/imu" param="IMU_BODY_TO_IMU_PHI" unit="rad" alt_unit="deg" handler="SetBodyToImuPhi" type="float" persistent="true"/>
        <dl_setting var="imu.body_to_imu.eulers_f.theta" shortname="b2i theta" min="-90" max="90" step="0.5"  module="modules/imu/imu" param="IMU_BODY_TO_IMU_THETA" unit="rad" alt_unit="deg" handler="SetBodyToImuTheta" type="float" persistent="true"/>
        <dl_setting var="imu.body_to_imu.eulers_f.psi" shortname="b2i psi" min="-90" max="90" step="0.5" module="modules/imu/imu" param="IMU_BODY_TO_IMU_PSI" unit="rad" alt_unit="deg" handler="SetBodyToImuPsi" type="float" persistent="true"/>
        <dl_setting var="imu.b2i_set_current" shortname="b2i cur roll/pitch" min="0" max="1" step="1" values="FALSE|TRUE" module="modules/imu/imu" handler="SetBodyToImuCurrent"/>
        <dl_setting var="imu.gyro_abi_send_id" shortname="gyro abi send" min="0" max="255" step="1" param="IMU_GYRO_ABI_SEND_ID"/>
        <dl_setting var="imu.accel_abi_send_id" shortname="accel abi send" min="0" max="255" step="1" param="IMU_ACCEL_ABI_SEND_ID"/>
        <dl_setting var="imu.mag_abi_send_id" shortname="mag abi send" min="0" max="255" step="1" param="IMU_MAG_ABI_SEND_ID"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>electrical</depends>
  </dep>
  <header>
    <file name="imu.h"/>
  </header>
  <init fun="imu_init()"/>
 
  <makefile target="!fbw">
    <define name="USE_IMU"/>
    <file name="imu.c"/>
    <test/>
  </makefile>
</module>