Paparazzi UAS  v5.15_devel-50-g4d7045d
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imu_openpilot_revo module

Driver for IMU on OpenPilot Revo board.

  • Accelerometer/Gyroscope: MPU6000 via SPI1
  • Magnetometer: HMC58xx via I2C1 The IMU positive X-axis is as inidcated with arrows on the board, Z-axis is negative towards the side of the MPU and LEDs (that side is up). If ACCEL and GYRO SENS/NEUTRAL are not defined, the defaults from the datasheet will be used.

Example for airframe file

Add to your firmware section:

1 <module name="imu_openpilot_revo"/>

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

Auto-loaded modules

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

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_mpu_hmc_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_openpilot_revo.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_openpilot_revo" dir="imu">
<doc>
<description>
Driver for IMU on OpenPilot Revo board.
- Accelerometer/Gyroscope: MPU6000 via SPI1
- Magnetometer: HMC58xx via I2C1
The IMU positive X-axis is as inidcated with arrows on the board,
Z-axis is negative towards the side of the MPU and LEDs (that side is up).
If ACCEL and GYRO SENS/NEUTRAL are not defined, the defaults from the datasheet will be used.
</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>
<autoload name="imu_common"/>
<autoload name="imu_nps"/>
<header>
<file name="imu_mpu6000_hmc5883.h" dir="subsystems/imu"/>
</header>
<init fun="imu_mpu_hmc_init()"/>
<periodic fun="imu_mpu_hmc_periodic()"/>
<event fun="imu_mpu_hmc_event()"/>
<makefile target="!sim|nps|fbw">
<!-- HMC is on I2C1 on OpenPilot Revolution -->
<define name="IMU_HMC_I2C_DEV" value="i2c1"/>
<define name="USE_I2C1"/>
<!-- MPU600 is on SPI1 using SPI_SLAVE_2 as defined in openpilot_revo_1.0.h -->
<define name="IMU_MPU_SPI_DEV" value="spi1"/>
<define name="USE_SPI1"/>
<define name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
<define name="USE_SPI_SLAVE2"/>
<!-- set channels and signs so that positive x-axis is indicated by arrows on board
and the side with MPU and LEDs is up (negative z-axis)-->
<define name="IMU_MPU_CHAN_X" value="1"/>
<define name="IMU_MPU_CHAN_Y" value="0"/>
<define name="IMU_MPU_CHAN_Z" value="2"/>
<define name="IMU_MPU_X_SIGN" value="-1"/>
<define name="IMU_MPU_Y_SIGN" value="-1"/>
<define name="IMU_MPU_Z_SIGN" value="-1"/>
<define name="IMU_HMC_CHAN_X" value="1"/>
<define name="IMU_HMC_CHAN_Y" value="0"/>
<define name="IMU_HMC_CHAN_Z" value="2"/>
<define name="IMU_HMC_X_SIGN" value="1"/>
<define name="IMU_HMC_Y_SIGN" value="1"/>
<define name="IMU_HMC_Z_SIGN" value="-1"/>
<define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000_hmc5883.h" type="string"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_spi.c" dir="peripherals"/>
<file name="hmc58xx.c" dir="peripherals"/>
<file name="imu_mpu6000_hmc5883.c" dir="subsystems/imu"/>
<raw>
include $(CFG_SHARED)/spi_master.makefile
</raw>
</makefile>
</module>