Vectornav VN-200 IMU subsystems, to be used with other AHRS/INS algorithms. More...

#include "modules/imu/imu_vectornav.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"
#include "generated/airframe.h"
#include "subsystems/datalink/telemetry.h"

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Functions
void	imu_scale_gyro (struct Imu *_imu)

void	imu_scale_accel (struct Imu *_imu)

static void	send_vn_info (struct transport_tx trans, struct link_device dev)

void	imu_vectornav_init (void)
	Init IMU struct and set up ABI messages. More...

void	imu_vectornav_event (void)
	Event function to read and parse data from the serial port. More...

void	imu_vectornav_periodic (void)
	Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending data and performs initial configuration if needed. More...

void	imu_vectornav_propagate (void)
	Send ABI messages. More...

Variables
struct ImuVectornav	imu_vn

Detailed Description

Vectornav VN-200 IMU subsystems, to be used with other AHRS/INS algorithms.

Definition in file imu_vectornav.c.

Function Documentation

void imu_scale_accel ( struct Imu * _imu )

Definition at line 44 of file imu_vectornav.c.

Referenced by handle_ins_msg(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_disco_event(), imu_drotek2_event(), imu_gl1_event(), imu_hbmini_event(), imu_krooz_periodic(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4_event(), imu_px4fmu_event(), imu_swing_event(), imu_umarim_event(), and navdata_publish_imu().

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void imu_scale_gyro ( struct Imu * _imu )

Definition at line 43 of file imu_vectornav.c.

Referenced by handle_ins_msg(), imu_analog_periodic(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_disco_event(), imu_drotek2_event(), imu_gl1_event(), imu_hbmini_event(), imu_krooz_periodic(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4_event(), imu_px4fmu_event(), imu_swing_event(), imu_umarim_event(), and navdata_publish_imu().

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void imu_vectornav_event ( void )

Event function to read and parse data from the serial port.

Definition at line 109 of file imu_vectornav.c.

References imu_vectornav_propagate(), imu_vn, VNPacket::msg_available, vn200_event(), vn200_read_message(), ImuVectornav::vn_data, and ImuVectornav::vn_packet.

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void imu_vectornav_init ( void )

Init IMU struct and set up ABI messages.

Definition at line 80 of file imu_vectornav.c.

References VNPacket::chksm_error, DefaultPeriodic, VNPacket::framing_error, VNPacket::hdr_error, imu_vn, VNPacket::msg_available, VNPacket::msg_idx, VNPacket::noise_error, VNPacket::overrun_error, register_periodic_telemetry(), send_vn_info(), VNPacket::status, ImuVectornav::vn_data, ImuVectornav::vn_freq, ImuVectornav::vn_packet, ImuVectornav::vn_status, VNMsgSync, and VNNotTracking.

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void imu_vectornav_periodic ( void )

Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending data and performs initial configuration if needed.

Definition at line 128 of file imu_vectornav.c.

References VNPacket::counter, imu_vn, ImuVectornav::vn_freq, ImuVectornav::vn_packet, ImuVectornav::vn_status, VNNotTracking, and VNOK.

void imu_vectornav_propagate ( void )

Send ABI messages.

Definition at line 149 of file imu_vectornav.c.

References Imu::accel, VNData::accel, ACCELS_BFP_OF_REAL, Imu::gyro, VNData::gyro, imu, IMU_VECTORNAV_ID, imu_vn, VNData::nanostamp, RATES_BFP_OF_REAL, and ImuVectornav::vn_data.