Give comparable with IMU Health information.
- saturation information
- vibration level
- magnetic field hard iron offset
Example for airframe file
Add to your firmware section:
<module name="imu_quality_assessment"/>
Module functions
Init Functions
These initialization functions are called once on startup.
Periodic Functions
These functions are called periodically at the specified frequency from the module periodic loop.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw imu_quality_assessment.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_quality_assessment" dir="benchmark" task="sensors">
<doc>
<description>
Give comparable with IMU Health information.
- saturation information
- vibration level
- magnetic field hard iron offset
</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="imu_quality">
<dl_setting var="imu_quality_assessment_data.q_ax" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="ax" handler="Reset"/>
<dl_setting var="imu_quality_assessment_data.q_ay" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="ay" handler="Reset"/>
<dl_setting var="imu_quality_assessment_data.q_az" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="az" handler="Reset"/>
<dl_setting var="imu_quality_assessment_data.q" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="q" handler="Reset"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="imu_quality_assessment.h"/>
</header>
<init fun="imu_quality_assessment_init()"/>
<periodic fun="imu_quality_assessment_periodic()" autorun="TRUE"/>
<makefile>
<file name="imu_quality_assessment.c"/>
</makefile>
</module>