Paparazzi UAS  v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
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imu_lisa_m_v2.1 module

IMU on Lisa/M and MX v2.1 boards.

MPU60x0 via SPI2. HMC5883 as I2C slave of MPU.

Example for airframe file

Add to your firmware section:

1 <module name="imu_lisa_m_v2.1"/>

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)


<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_lisa_m_v2.1" dir="imu">
IMU on Lisa/M and MX v2.1 boards.
MPU60x0 via SPI2. HMC5883 as I2C slave of MPU.
<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_aspirin_v2_common"/>
<makefile target="!sim|nps|fbw">
<define name="ASPIRIN_2_SPI_DEV" value="spi2"/>
<define name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
<!-- SLAVE2 is on PB12 (NSS) (MPU600 CS) -->
<define name="USE_SPI_SLAVE2"/>
<!-- SLAVE3 is on PC13, which is the baro CS -->
<define name="USE_SPI_SLAVE3"/>
<define name="USE_SPI1"/>
<define name="LISA_M_OR_MX_21"/>