PX4 Pixhawk IMU via SPI.

Consists of two (internal) IMU's and one internal magneto. Also an optional external magneto. L3GD20 + LSM303D

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_px4fmu_v2.4">
  b'<define name="IMU_PX4_DISABLE_MAG" value="FALSE" />\n  '
  b'<configure name="IMU_PX4FMU_SPI_DEV" value="spi1" />\n    '
  b'<configure name="IMU_L3G_SPI_SLAVE_IDX" value="SPI_SLAVE0" />\n    '
  b'<configure name="IMU_LSM_SPI_SLAVE_IDX" value="SPI_SLAVE1" />\n    '
</module>

Module configuration options

Configure Options

name: IMU_PX4FMU_SPI_DEV value: spi1
Description: SPI device to use
name: IMU_L3G_SPI_SLAVE_IDX value: SPI_SLAVE0
Description: slave select pin for the L3GD20
name: IMU_LSM_SPI_SLAVE_IDX value: SPI_SLAVE1
Description: slave select pin for the LSM303D

Define Options

name: IMU_PX4_DISABLE_MAG value: FALSE
Description: define to TRUE to disable the mag on the Pixhawk

Module functions

Init Functions

These initialization functions are called once on startup.

imu_px4_init()

Event Functions

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

imu_px4_event()

Periodic Functions

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

imu_px4_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_px4fmu_v2.4.h

Source Files

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_px4fmu_v2.4" dir="imu" task="sensors">
  <doc>
    <description>
      PX4 Pixhawk IMU via SPI.
      Consists of two (internal) IMU's and one internal magneto. Also an optional external magneto.
      L3GD20 +  LSM303D
    </description>
    <configure name="IMU_PX4FMU_SPI_DEV" value="spi1" description="SPI device to use"/>
    <configure name="IMU_L3G_SPI_SLAVE_IDX" value="SPI_SLAVE0" description="slave select pin for the L3GD20"/>
    <configure name="IMU_LSM_SPI_SLAVE_IDX" value="SPI_SLAVE1" description="slave select pin for the LSM303D"/>
    <define name="IMU_PX4_DISABLE_MAG" value="FALSE" description="define to TRUE to disable the mag on the Pixhawk"/>
  </doc>
  <dep>
    <depends>spi_master,i2c,imu_common</depends>
    <provides>imu,mag</provides>
  </dep>
  <header>
    <file name="imu_px4fmu_v2.4.h"/>
  </header>
  <init fun="imu_px4_init()"/>
  <periodic fun="imu_px4_periodic()"/>
  <event fun="imu_px4_event()"/>
  <makefile target="!sim|nps|fbw">
    <configure name="IMU_PX4FMU_SPI_DEV" default="spi1" case="lower|upper"/>
    <define name="IMU_PX4FMU_SPI_DEV" value="$(IMU_PX4FMU_SPI_DEV_LOWER)"/>
    <define name="USE_$(IMU_PX4FMU_SPI_DEV_UPPER)"/>
    <!-- L3GD20 -->
    <configure name="IMU_L3G_SPI_SLAVE_IDX" default="SPI_SLAVE0"/>
    <define name="USE_$(IMU_L3G_SPI_SLAVE_IDX)"/>
    <define name="IMU_L3G_SPI_SLAVE_IDX" value="$(IMU_L3G_SPI_SLAVE_IDX)"/>
    <!-- LSM303d -->
    <configure name="IMU_LSM_SPI_SLAVE_IDX" default="SPI_SLAVE1"/>
    <define name="USE_$(IMU_LSM_SPI_SLAVE_IDX)"/>
    <define name="IMU_LSM_SPI_SLAVE_IDX" value="$(IMU_LSM_SPI_SLAVE_IDX)"/>
 
    <file name="l3gd20_spi.c" dir="peripherals"/>
    <file name="lsm303d_spi.c" dir="peripherals"/>
    <file name="hmc58xx.c" dir="peripherals"/>
    <file name="imu_px4fmu_v2.4.c"/>
    <test>
      <define name="IMU_PX4FMU_SPI_DEV" value="spi1"/>
      <define name="IMU_L3G_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
      <define name="IMU_LSM_SPI_SLAVE_IDX" value="SPI_SLAVE1"/>
      <define name="SPI_MASTER"/>
      <define name="USE_SPI1"/>
      <define name="USE_SPI_SLAVE0"/>
      <define name="USE_SPI_SLAVE1"/>
      <define name="USE_I2C2"/>
      <define name="PERIODIC_FREQUENCY" value="512"/>
      <define name="IMU_PX4_PERIODIC_FREQ" value="512"/>
    </test>
  </makefile>
</module>