imu_apogee_mpu9150 module

Driver for IMU on Apogee board.

• Accelerometer/Gyroscope/Mag: MPU9150 via I2C1

Example for airframe file

Add to your firmware section:

<module name="imu_apogee_mpu9150"/>

Module configuration options

Airframe file section

• section name: IMU prefix: IMU_
  • name MAG_X_NEUTRAL value: 2358
  • name MAG_Y_NEUTRAL value: 2362
  • name MAG_Z_NEUTRAL value: 2119
  • name MAG_X_SENS value: 3.4936416
  • name MAG_Y_SENS value: 3.607713
  • name MAG_Z_SENS value: 4.90788848

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

• imu_nps module
• imu_apogee module

Files

Header Files

The following headers are automatically included in modules.h

• imu_apogee.h

Source Files

• peripherals/ak8975.c

Raw imu_apogee_mpu9150.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_apogee_mpu9150" dir="imu">
  <doc>
    <description>
      Driver for IMU on Apogee board.
      - Accelerometer/Gyroscope/Mag: MPU9150 via I2C1
    </description>
    <section name="IMU" prefix="IMU_">
      <define name="MAG_X_NEUTRAL" value="2358"/>
      <define name="MAG_Y_NEUTRAL" value="2362"/>
      <define name="MAG_Z_NEUTRAL" value="2119"/>

      <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
      <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
      <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
    </section>
  </doc>
  <autoload name="imu_nps"/>
  <autoload name="imu_apogee"/>
  <header>
    <file name="imu_apogee.h" dir="boards/apogee"/>
  </header>

  <makefile target="!sim|nps|fbw">
    <!-- only add ak8975 mag to "normal" apogee driver -->
    <define name="APOGEE_USE_MPU9150"/>
    <file name="ak8975.c" dir="peripherals"/>
  </makefile>
</module>