imu_pixhawk6x module

IMU driver for the sensors inside the Pixhawk 6X autopilots

• IMU1: ICM42670 (version 4) / ICM45686 (version 8)
• IMU2: ICM42688 (version 4) / ICM45686 (version 8)
• IMU3: BMI088 or ICM20649 (version 4) / ICM45686 (version 8)

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_pixhawk6x">
  b'<configure name="IMU_PIXHAWK6X_REV" value="4" />\n  '
</module>

Module configuration options

Configure Options

• name: IMU_PIXHAWK6X_REV value: 4
  Description: The IMU revision, only 8 and 4 are supported

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_pixhawk6x_init()

Event Functions

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

• imu_pixhawk6x_event()

Periodic Functions

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

• imu_pixhawk6x_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

• imu_pixhawk6x.h

Source Files

• peripherals/invensense2.c
• peripherals/invensense3.c
• peripherals/invensense3_456.c
• modules/imu/imu_pixhawk6x.c

Raw imu_pixhawk6x.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_pixhawk6x" dir="imu" task="sensors">
  <doc>
    <description>
      IMU driver for the sensors inside the Pixhawk 6X autopilots
      - IMU1: ICM42670 (version 4) / ICM45686 (version 8)
      - IMU2: ICM42688 (version 4) / ICM45686 (version 8)
      - IMU3: BMI088 or ICM20649 (version 4) / ICM45686 (version 8)
    </description>
    <configure name="IMU_PIXHAWK6X_REV" value="4" description="The IMU revision, only 8 and 4 are supported"/>
  </doc>
  <dep>
    <depends>spi_master,i2c,imu_common,imu_heater</depends>
    <provides>imu</provides>
  </dep>
  <header>
    <file name="imu_pixhawk6x.h"/>
  </header>
  <init fun="imu_pixhawk6x_init()"/>
  <periodic fun="imu_pixhawk6x_periodic()"/>
  <event fun="imu_pixhawk6x_event()"/>
  <makefile target="!sim|nps|fbw">
    <!-- IMU revision -->
    <configure name="IMU_PIXHAWK6X_REV" default="4"/>
    <define name="IMU_PIXHAWK6X_REV" value="$(IMU_PIXHAWK6X_REV)"/>
 
    <!-- Files -->
    <file name="invensense2.c" dir="peripherals" cond="ifneq ($(IMU_PIXHAWK6X_REV), 8)"/>
    <file name="invensense3.c" dir="peripherals" cond="ifneq ($(IMU_PIXHAWK6X_REV), 8)"/>
    <file name="invensense3_456.c" dir="peripherals" cond="ifeq ($(IMU_PIXHAWK6X_REV), 8)"/>
    <file name="imu_pixhawk6x.c"/>
    
 
    <!-- IMU1: ICM42670 (version 4) / ICM45686 (version 8) -->
    <configure name="PIXHAWK6X_IMU1_SPI_DEV" default="spi1" case="lower|upper"/>
    <configure name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE1"/>
    <define name="PIXHAWK6X_IMU1_SPI_DEV" value="$(PIXHAWK6X_IMU1_SPI_DEV_LOWER)"/>
    <define name="USE_$(PIXHAWK6X_IMU1_SPI_DEV_UPPER)"/>
    <define name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU1_SPI_SLAVE_IDX)"/>
    <define name="USE_$(PIXHAWK6X_IMU1_SPI_SLAVE_IDX)"/>
 
    <!-- IMU2: ICM42688 (version 4) / ICM45686 (version 8) -->
    <configure name="PIXHAWK6X_IMU2_SPI_DEV" default="spi2" case="lower|upper"/>
    <configure name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
    <define name="PIXHAWK6X_IMU2_SPI_DEV" value="$(PIXHAWK6X_IMU2_SPI_DEV_LOWER)"/>
    <define name="USE_$(PIXHAWK6X_IMU2_SPI_DEV_UPPER)"/>
    <define name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU2_SPI_SLAVE_IDX)"/>
    <define name="USE_$(PIXHAWK6X_IMU2_SPI_SLAVE_IDX)"/>
 
    <!-- IMU3: BMI088 or ICM20649 (version 4) / ICM45686 (version 8) -->
    <configure name="PIXHAWK6X_IMU3_SPI_DEV" default="spi3" case="lower|upper"/>
    <configure name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" default="SPI_SLAVE3"/>
    <define name="PIXHAWK6X_IMU3_SPI_DEV" value="$(PIXHAWK6X_IMU3_SPI_DEV_LOWER)"/>
    <define name="USE_$(PIXHAWK6X_IMU3_SPI_DEV_UPPER)"/>
    <define name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU3_SPI_SLAVE_IDX)"/>
    <define name="USE_$(PIXHAWK6X_IMU3_SPI_SLAVE_IDX)"/>
 
    <!-- Configure the heater IMU2 -->
    <define name="IMU_HEATER_GYRO_ID" value="IMU_PIXHAWK2_ID"/>
    <define name="IMU_HEATER_TARGET_TEMP" value="45.0"/>
    <define name="IMU_HEATER_P_GAIN" value="50.0"/>
    <define name="IMU_HEATER_I_GAIN" value="0.07"/>
 
    <test>
      <define name="SPI_MASTER"/>
      <define name="PIXHAWK6X_IMU1_SPI_DEV" value="spi1"/>
      <define name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" value="1"/>
      <define name="PIXHAWK6X_IMU2_SPI_DEV" value="spi2"/>
      <define name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" value="2"/>
      <define name="PIXHAWK6X_IMU3_SPI_DEV" value="spi3"/>
      <define name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" value="3"/>
      <define name="USE_SPI1"/>
      <define name="USE_SPI2"/>
      <define name="USE_SPI3"/>
      <define name="USE_SPI_SLAVE1"/>
      <define name="USE_SPI_SLAVE2"/>
      <define name="USE_SPI_SLAVE3"/>
      <define name="PERIODIC_FREQUENCY" value="512"/>
      <define name="IMU_PIXHAWK6X_PERIODIC_FREQ" value="512"/>
    </test>
  </makefile>
</module>