Paparazzi UAS  v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
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imu_mpu9250_i2c module

IMU with MPU9250 via I2C.

Also reads the internal AK8963 magnetometer.

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="imu_mpu9250_i2c">
2  <define name="IMU_MPU9250_GYRO_LOWPASS_FILTER" value="MPU9250_DLPF_GYRO_250HZ" />
3  <define name="IMU_MPU9250_ACCEL_LOWPASS_FILTER" value="MPU9250_DLPF_ACCEL_184HZ" />
4  <define name="IMU_MPU9250_SMPLRT_DIV" value="3" />
5  <define name="IMU_MPU9250_GYRO_RANGE" value="MPU9250_GYRO_RANGE_1000" />
6  <define name="IMU_MPU9250_ACCEL_RANGE" value="MPU9250_ACCEL_RANGE_8G" />
7  <define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR_ALT" />
8  <define name="IMU_MPU9250_CHAN_X" value="0" />
9  <define name="IMU_MPU9250_CHAN_Y" value="1" />
10  <define name="IMU_MPU9250_CHAN_Z" value="2" />
11  <configure name="IMU_MPU9250_I2C_DEV" value="i2c2" />
12 </module>

Module configuration options

Configure Options

  • name: IMU_MPU9250_I2C_DEV value: i2c2
    Description: I2C device to use for MPU9250

Define Options

  • name: IMU_MPU9250_GYRO_LOWPASS_FILTER value: MPU9250_DLPF_GYRO_250HZ
    Description: gyro DigitalLowPassFilter setting of the MPU
    Description: accelerometer DigitalLowPassFilter setting of the MPU
  • name: IMU_MPU9250_SMPLRT_DIV value: 3
    Description: sample rate divider setting of the MPU
  • name: IMU_MPU9250_GYRO_RANGE value: MPU9250_GYRO_RANGE_1000
    Description: gyroscope range setting of the MPU
  • name: IMU_MPU9250_ACCEL_RANGE value: MPU9250_ACCEL_RANGE_8G
    Description: accelerometer range setting of the MPU
  • name: IMU_MPU9250_I2C_ADDR value: MPU9250_ADDR_ALT
    Description: I2C address of the MPU
  • name: IMU_MPU9250_CHAN_X value: 0
    Description: channel index
  • name: IMU_MPU9250_CHAN_Y value: 1
    Description: channel index
  • name: IMU_MPU9250_CHAN_Z value: 2
    Description: channel index

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_mpu9250_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_mpu9250_i2c.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_mpu9250_i2c" dir="imu">
IMU with MPU9250 via I2C.
Also reads the internal AK8963 magnetometer.
<configure name="IMU_MPU9250_I2C_DEV" value="i2c2" description="I2C device to use for MPU9250"/>
<define name="IMU_MPU9250_GYRO_LOWPASS_FILTER" value="MPU9250_DLPF_GYRO_250HZ" description="gyro DigitalLowPassFilter setting of the MPU"/>
<define name="IMU_MPU9250_ACCEL_LOWPASS_FILTER" value="MPU9250_DLPF_ACCEL_184HZ" description="accelerometer DigitalLowPassFilter setting of the MPU"/>
<define name="IMU_MPU9250_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
<define name="IMU_MPU9250_GYRO_RANGE" value="MPU9250_GYRO_RANGE_1000" description="gyroscope range setting of the MPU"/>
<define name="IMU_MPU9250_ACCEL_RANGE" value="MPU9250_ACCEL_RANGE_8G" description="accelerometer range setting of the MPU"/>
<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR_ALT" description="I2C address of the MPU"/>
<define name="IMU_MPU9250_CHAN_X" value="0" description="channel index"/>
<define name="IMU_MPU9250_CHAN_Y" value="1" description="channel index"/>
<define name="IMU_MPU9250_CHAN_Z" value="2" description="channel index"/>
<autoload name="imu_common"/>
<autoload name="imu_nps"/>
<file name="imu_mpu9250_i2c.h" dir="subsystems/imu"/>
<init fun="imu_mpu9250_init()"/>
<periodic fun="imu_mpu9250_periodic()"/>
<event fun="imu_mpu9250_event()"/>
<makefile target="!sim|nps|fbw">
<configure name="IMU_MPU9250_I2C_DEV" default="i2c2" case="lower|upper"/>
<define name="IMU_MPU9250_I2C_DEV" value="$(IMU_MPU9250_I2C_DEV_LOWER)"/>
<define name="USE_$(IMU_MPU9250_I2C_DEV_UPPER)"/>
<define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu9250_i2c.h" type="string"/>
<file name="mpu9250.c" dir="peripherals"/>
<file name="mpu9250_i2c.c" dir="peripherals"/>
<file name="ak8963.c" dir="peripherals"/>
<file name="imu_mpu9250_i2c.c" dir="subsystems/imu"/>