Example for airframe file

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

<module name="ins_arduimu_basic">
  b'<define name="USE_HIGH_ACCEL_FLAG" />\n    '
  b'<define name="ARDUIMU_SYNC_SEND" />\n  '
</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.

ArduIMU_init()

Event Functions

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

ArduIMU_event()

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

ins_arduimu_basic.h

Source Files

modules/ins/ins_arduimu_basic.c

Raw ins_arduimu_basic.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_arduimu_basic" dir="ins" task="estimation">
  <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>
  <dep>
    <depends>@gps</depends>
    <provides>imu,ins,ahrs</provides>
  </dep>
  <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>
</module>
 