imu_bebop module

Driver for IMU on the Parrot Bebop drone.

• Accelerometer/Gyroscope: MPU6000 via I2C2
• Magnetometer: AK8963 via I2C1

Example for airframe file

Add to your firmware section:

<module name="imu_bebop"/>

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_common module
• imu_nps module
• sonar_bebop module

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_bebop_init()

Event Functions

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

• imu_bebop_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• imu_bebop_periodic()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• imu_bebop.h

Source Files

• peripherals/mpu60x0.c
• peripherals/mpu60x0_i2c.c
• peripherals/ak8963.c
• subsystems/imu/imu_bebop.c

Raw imu_bebop.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_bebop" dir="imu">
  <doc>
    <description>
      Driver for IMU on the Parrot Bebop drone.
      - Accelerometer/Gyroscope: MPU6000 via I2C2
      - Magnetometer: AK8963 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_common"/>
  <autoload name="imu_nps"/>
  <autoload name="sonar_bebop"/>
  <header>
    <file name="imu_bebop.h" dir="subsystems/imu"/>
  </header>
  <init fun="imu_bebop_init()"/>
  <periodic fun="imu_bebop_periodic()"/>
  <event fun="imu_bebop_event()"/>
  <makefile target="!sim|nps|fbw">
    <define name="BEBOP_MAG_I2C_DEV" value="i2c1"/>
    <define name="USE_I2C1"/>
    <define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
    <define name="USE_I2C2"/>

    <define name="IMU_TYPE_H" value="subsystems/imu/imu_bebop.h" type="string"/>

    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_i2c.c" dir="peripherals"/>
    <file name="ak8963.c" dir="peripherals"/>
    <file name="imu_bebop.c" dir="subsystems/imu"/>
  </makefile>
</module>