Paparazzi UAS  v5.15_devel-46-gd23ed71
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mag_lis3mdl module

ST LIS3MDL magnetometer.

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="mag_lis3mdl">
2  <define name="MODULE_LIS3MDL_SYNC_SEND" value="TRUE|FALSE" />
3  <define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE|FALSE" />
4  <define name="LIS3MDL_CHAN_X_SIGN" value="+|-" />
5  <define name="LIS3MDL_CHAN_Y_SIGN" value="+|-" />
6  <define name="LIS3MDL_CHAN_Z_SIGN" value="+|-" />
7  <define name="LIS3MDL_CHAN_X" value="0|1|2" />
8  <define name="LIS3MDL_CHAN_Y" value="0|1|2" />
9  <define name="LIS3MDL_CHAN_Z" value="0|1|2" />
10  <configure name="MAG_LIS3MDL_I2C_DEV" value="i2cX" />
11 </module>

Module configuration options

Configure Options

  • name: MAG_LIS3MDL_I2C_DEV value: i2cX
    Description: I2C device to use

Define Options

  • name: MODULE_LIS3MDL_SYNC_SEND value: TRUE|FALSE
    Description: Send IMU_RAW message with each new measurement (default: FALSE)
  • name: MODULE_LIS3MDL_UPDATE_AHRS value: TRUE|FALSE
    Description: Copy measurements to imu and send as ABI message (default: FALSE)
  • name: LIS3MDL_CHAN_X_SIGN value: +|-
    Description: Reverse polarity of x axis (default: +)
  • name: LIS3MDL_CHAN_Y_SIGN value: +|-
    Description: Reverse polarity of y axis (default: +)
  • name: LIS3MDL_CHAN_Z_SIGN value: +|-
    Description: Reverse polarity of z axis (default: +)
  • name: LIS3MDL_CHAN_X value: 0|1|2
    Description: Channel id of x axis (default: 0)
  • name: LIS3MDL_CHAN_Y value: 0|1|2
    Description: Channel id of y axis (default: 1)
  • name: LIS3MDL_CHAN_Z value: 0|1|2
    Description: Channel id of z axis (default: 2)

Airframe file section

  • section name: MAG_LIS3MDL prefix: LIS3MDL_
    • name MAG_TO_IMU_PHI value: 0.0
      Description: Rotation between sensor frame and IMU frame (phi angle)
    • name MAG_TO_IMU_THETA value: 0.0
      Description: Rotation between sensor frame and IMU frame (theta angle)
    • name MAG_TO_IMU_PSI value: 0.0
      Description: Rotation between sensor frame and IMU frame (psi angle)

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.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw mag_lis3mdl.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="mag_lis3mdl" dir="sensors">
<doc>
<description>
ST LIS3MDL magnetometer.
</description>
<configure name="MAG_LIS3MDL_I2C_DEV" value="i2cX" description="I2C device to use"/>
<define name="MODULE_LIS3MDL_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
<define name="LIS3MDL_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
<define name="LIS3MDL_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
<define name="LIS3MDL_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
<define name="LIS3MDL_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
<define name="LIS3MDL_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
<define name="LIS3MDL_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
<section name="MAG_LIS3MDL" prefix="LIS3MDL_">
<define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
<define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
<define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
</section>
</doc>
<header>
<file name="mag_lis3mdl.h"/>
</header>
<init fun="mag_lis3mdl_module_init()"/>
<periodic fun="mag_lis3mdl_module_periodic()" freq="60"/>
<periodic fun="mag_lis3mdl_report()" freq="10" autorun="FALSE"/>
<event fun="mag_lis3mdl_module_event()"/>
<makefile target="ap">
<file name="mag_lis3mdl.c"/>
<file name="lis3mdl.c" dir="peripherals"/>
<raw>
ifeq ($(MAG_LIS3MDL_I2C_DEV),)
$(error mag_lis3mdl module error: please configure MAG_LIS3MDL_I2C_DEV)
endif
</raw>
<configure name="MAG_LIS3MDL_I2C_DEV" case="upper|lower"/>
<define name="USE_$(MAG_LIS3MDL_I2C_DEV_UPPER)"/>
<define name="MAG_LIS3MDL_I2C_DEV" value="$(MAG_LIS3MDL_I2C_DEV_LOWER)"/>
</makefile>
</module>