Paparazzi UAS  v5.12_stable-4-g9b43e9b
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ahrs_chimu_uart module

CHimu (UART)

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="ahrs_chimu_uart">
2  <define name="CHIMU_BIG_ENDIAN" value="TRUE" />
3  <configure name="CHIMU_UART_NR" value="3" />
4 </module>

Module configuration options

Configure Options

  • name: CHIMU_UART_NR value: 3
    Description: UART

Define Options

  • name: CHIMU_BIG_ENDIAN value: TRUE
    Description: For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN

Module functions

Event Functions

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


Header Files

The following headers are automatically included in modules.h

Source Files

Raw ahrs_chimu_uart.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_chimu_uart" dir="ins">
<description>CHimu (UART)</description>
<configure name="CHIMU_UART_NR" value="3" description="UART"/>
<define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
<file name="ins_module.h"/>
<event fun="parse_ins_msg()"/>
<makefile target="ap">
<define name="USE_AHRS"/>
<define name="USE_INS_MODULE"/>
<define name="USE_UART$(CHIMU_UART_NR)" value="1"/>
<define name="INS_LINK" value="uart$(CHIMU_UART_NR)"/>
<define name="UART$(CHIMU_UART_NR)_BAUD" value="B115200"/>
<file name="ahrs_chimu_uart.c"/>
<file name="imu_chimu.c"/>
<file name="ahrs.c" dir="subsystems"/>
<define name="AHRS_TYPE_H" value="modules/ins/ahrs_chimu.h" type="string"/>