Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="imu_mpu9250">
  b'<define name="IMU_MPU9250_ADDR" value="MPU9250_ADDR|MPU9250_ADDR_ALT" />\n  '
  b'<configure name="IMU_MPU9250_I2C_DEV" value="i2c1" />\n    '
</module>

Module configuration options

Configure Options

name: IMU_MPU9250_I2C_DEV value: i2c1
Description: I2C device to use (e.g. i2c1)

Define Options

name: IMU_MPU9250_ADDR value: MPU9250_ADDR|MPU9250_ADDR_ALT
Description: Use regular or alternate I2C address

Module functions

Init Functions

These initialization functions are called once on startup.

imu_mpu9250_init()

Event Functions

These event functions are called in each cycle of the module event loop.

imu_mpu9250_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

imu_mpu9250_periodic()
- Running at maximum module frequency.
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
imu_mpu9250_report()
- Frequency in Hz: 10
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

imu_mpu9250.h

Source Files

Raw imu_mpu9250.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_mpu9250" dir="imu" task="sensors">
  <doc>
    <description>
      Test module for the mpu9250 with I2C
      Report RAW values on telemetry
    </description>
    <configure name="IMU_MPU9250_I2C_DEV" value="i2c1" description="I2C device to use (e.g. i2c1)"/>
    <define name="IMU_MPU9250_ADDR" value="MPU9250_ADDR|MPU9250_ADDR_ALT" description="Use regular or alternate I2C address"/>
  </doc>
  <dep>
    <depends>i2c,imu_common</depends>
    <provides>imu,mag</provides>
  </dep>
  <header>
    <file name="imu_mpu9250.h"/>
  </header>
  <init fun="imu_mpu9250_init()"/>
  <periodic fun="imu_mpu9250_periodic()"/>
  <periodic fun="imu_mpu9250_report()" freq="10" autorun="TRUE"/>
  <event fun="imu_mpu9250_event()"/>
  <makefile>
    <configure name="IMU_MPU9250_I2C_DEV" default="i2c1" case="upper|lower"/>
    <define name="USE_$(IMU_MPU9250_I2C_DEV_UPPER)"/>
    <define name="IMU_MPU9250_I2C_DEV" value="$(IMU_MPU9250_I2C_DEV_LOWER)"/>
    <file name="imu_mpu9250.c"/>
    <file name="mpu9250.c" dir="peripherals"/>
    <file name="mpu9250_i2c.c" dir="peripherals"/>
    <file name="ak8963.c" dir="peripherals"/>
    <test>
      <define name="USE_I2C1"/>
      <define name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>
 