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

XSens IMU.

Used to just provide IMU measurements. For use with an external AHRS algorithm.

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_xsens">
2  <configure name="XSENS_PORT" value="uart1" />
3  <configure name="XSENS_BAUD" value="B115200" />
4 </module>

Module configuration options

Configure Options

  • name: XSENS_PORT value: uart1
    Description: The (uart) port the XSens is connected to
  • name: XSENS_BAUD value: B115200
    Description: UART baud rate

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.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw imu_xsens.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_xsens" dir="ins">
XSens IMU.
Used to just provide IMU measurements.
For use with an external AHRS algorithm.
<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
<autoload name="imu_common"/>
<autoload name="imu_nps"/>
<file name="imu_xsens.h"/>
<init fun="imu_xsens_init()"/>
<event fun="imu_xsens_event()"/>
<makefile target="ap">
<file name="xsens.c"/>
<file name="xsens_common.c"/>
<file name="imu_xsens.c"/>
<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
<configure name="XSENS_BAUD" default="B115200"/>
<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
<!-- TODO: check output mode -->
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
<define name="IMU_TYPE_H" value="modules/ins/imu_xsens.h" type="string"/>