Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
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imu_aspirin_defaults.h
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4  * This file is part of paparazzi.
5  *
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14  * GNU General Public License for more details.
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20  */
21 
28 #ifndef IMU_ASPIRIN_DEFAULTS_H
29 #define IMU_ASPIRIN_DEFAULTS_H
30 
31 #include "generated/airframe.h"
32 
33 #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
34 #define IMU_MAG_X_SIGN 1
35 #define IMU_MAG_Y_SIGN 1
36 #define IMU_MAG_Z_SIGN 1
37 #endif
38 #if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
39 #define IMU_GYRO_P_SIGN 1
40 #define IMU_GYRO_Q_SIGN 1
41 #define IMU_GYRO_R_SIGN 1
42 #endif
43 #if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
44 #define IMU_ACCEL_X_SIGN 1
45 #define IMU_ACCEL_Y_SIGN 1
46 #define IMU_ACCEL_Z_SIGN 1
47 #endif
48 
49 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
50 #ifdef IMU_ASPIRIN_VERSION_1_5
51 
56 #define IMU_GYRO_P_SENS 4.359
57 #define IMU_GYRO_P_SENS_NUM 4359
58 #define IMU_GYRO_P_SENS_DEN 1000
59 #define IMU_GYRO_Q_SENS 4.359
60 #define IMU_GYRO_Q_SENS_NUM 4359
61 #define IMU_GYRO_Q_SENS_DEN 1000
62 #define IMU_GYRO_R_SENS 4.359
63 #define IMU_GYRO_R_SENS_NUM 4359
64 #define IMU_GYRO_R_SENS_DEN 1000
65 #else
66 
71 #define IMU_GYRO_P_SENS 4.973
72 #define IMU_GYRO_P_SENS_NUM 4973
73 #define IMU_GYRO_P_SENS_DEN 1000
74 #define IMU_GYRO_Q_SENS 4.973
75 #define IMU_GYRO_Q_SENS_NUM 4973
76 #define IMU_GYRO_Q_SENS_DEN 1000
77 #define IMU_GYRO_R_SENS 4.973
78 #define IMU_GYRO_R_SENS_NUM 4973
79 #define IMU_GYRO_R_SENS_DEN 1000
80 #endif // IMU_ASPIRIN_VERSION_1_5
81 #endif
82 
83 
95 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
96 #define IMU_ACCEL_X_SENS 37.91
97 #define IMU_ACCEL_X_SENS_NUM 3791
98 #define IMU_ACCEL_X_SENS_DEN 100
99 #define IMU_ACCEL_Y_SENS 37.91
100 #define IMU_ACCEL_Y_SENS_NUM 3791
101 #define IMU_ACCEL_Y_SENS_DEN 100
102 #define IMU_ACCEL_Z_SENS 39.24
103 #define IMU_ACCEL_Z_SENS_NUM 3924
104 #define IMU_ACCEL_Z_SENS_DEN 100
105 #endif
106 
107 #endif /* IMU_ASPIRIN_DEFAULTS_H */