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

Driver for IMU on the Parrot Disco drone.

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

Example for airframe file

Add to your firmware section:

1 <module name="imu_disco"/>

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)

Module functions

Init Functions

These initialization functions are called once on startup.

Event Functions

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

Periodic Functions

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

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


Header Files

The following headers are automatically included in modules.h

Source Files

Raw imu_disco.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_disco" dir="imu">
Driver for IMU on the Parrot Disco drone.
- Accelerometer/Gyroscope: MPU6000 via I2C2
- Magnetometer: AK8963 via I2C1
<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"/>
<autoload name="imu_common"/>
<autoload name="imu_nps"/>
<!--autoload name="sonar_bebop"/-->
<file name="imu_disco.h" dir="subsystems/imu"/>
<init fun="imu_disco_init()"/>
<periodic fun="imu_disco_periodic()"/>
<event fun="imu_disco_event()"/>
<makefile target="!sim|nps|fbw">
<define name="USE_I2C1"/>
<define name="USE_I2C2"/>
<define name="IMU_TYPE_H" value="subsystems/imu/imu_disco.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_disco.c" dir="subsystems/imu"/>