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ins_arduimu_basic module

ArduIMU v2

No detailed description...

Example for airframe file

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

1 <module name="ins_arduimu_basic">
2  <define name="USE_HIGH_ACCEL_FLAG" />
3  <define name="ARDUIMU_SYNC_SEND" />
4 </module>

Module configuration options

Define Options

  • name: USE_HIGH_ACCEL_FLAG value: None
    Description: flag to disable accelerometers on high acceleration detection (low speed, high thrust)
  • name: ARDUIMU_SYNC_SEND value: None
    Description: flag to downlink raw gyro and accels values

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.

  • ArduIMU_periodic()
    • Frequency in Hz: 60
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.
  • ArduIMU_periodicGPS()
    • Frequency in Hz: 4
    • 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 ins_arduimu_basic.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_ArduIMU" dir="ins">
<doc>
<description>ArduIMU v2</description>
<define name="USE_HIGH_ACCEL_FLAG" description="flag to disable accelerometers on high acceleration detection (low speed, high thrust)"/>
<define name="ARDUIMU_SYNC_SEND" description="flag to downlink raw gyro and accels values"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="ins">
<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="arduimu_calibrate_neutrals" shortname="calibrate" values="FALSE|TRUE"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="ins_arduimu_basic.h"/>
</header>
<init fun="ArduIMU_init()"/>
<periodic fun="ArduIMU_periodic()" freq="60"/>
<periodic fun="ArduIMU_periodicGPS()" freq="4"/>
<event fun="ArduIMU_event()"/>
<makefile target="ap">
<file name="ins_arduimu_basic.c"/>
</makefile>
<makefile target="sim">
<file_arch name="ins_arduimu_basic.c"/>
</makefile>
</module>