Driver for IMU on the Parrot Disco drone.
- Accelerometer/Gyroscope: MPU6000 via I2C2
- Magnetometer: AK8963 via I2C1
Example for airframe file
Add to your firmware section:
<module name="imu_disco"/>
Module configuration options
Airframe file section
- section name:
IMU
prefix: IMU_
- name
MAG_X_NEUTRAL
value: 2358
- name
MAG_Y_NEUTRAL
value: 2362
- name
MAG_Z_NEUTRAL
value: 2119
- name
MAG_X_SENS
value: 3.4936416
- name
MAG_Y_SENS
value: 3.607713
- name
MAG_Z_SENS
value: 4.90788848
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Periodic Functions
These functions are called periodically at the specified frequency from the module periodic loop.
- imu_disco_periodic()
- Running at maximum module frequency.
- Autorun: LOCK
Periodic function automatically starts after init and can't be stopped.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw imu_disco.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_disco" dir="imu" task="sensors">
<doc>
<description>
Driver for IMU on the Parrot Disco drone.
- Accelerometer/Gyroscope: MPU6000 via I2C2
- Magnetometer: AK8963 via I2C1
</description>
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="2358"/>
<define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
</section>
</doc>
<dep>
<depends>i2c,imu_common</depends>
<provides>imu,mag</provides>
</dep>
<header>
<file name="imu_disco.h"/>
</header>
<init fun="imu_disco_init()"/>
<periodic fun="imu_disco_periodic()"/>
<event fun="imu_disco_event()"/>
<makefile target="!sim|nps|fbw">
<define name="USE_I2C1"/>
<define name="USE_I2C2"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_i2c.c" dir="peripherals"/>
<file name="ak8963.c" dir="peripherals"/>
<file name="imu_disco.c"/>
<test>
<define name="USE_I2C2"/>
<define name="USE_I2C1"/>
<define name="PERIODIC_FREQUENCY" value="512"/>
<define name="IMU_DISCO_PERIODIC_FREQ" value="512"/>
</test>
</makefile>
</module>