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ins_xsens module

XSens Mti-G INS

No detailed description...

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="ins_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.

Periodic Functions

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

  • xsens_periodic()
    • Frequency in Hz: 60
    • 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 ins_xsens.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_xsens" dir="ins">
XSens Mti-G INS
<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="gps"/>
<autoload name="ins_sim"/>
<autoload name="ins_nps"/>
<file name="ins_xsens.h"/>
<init fun="ins_xsens_init()"/>
<init fun="gps_xsens_init()"/>
<periodic fun="xsens_periodic()" freq="60"/>
<event fun="ins_xsens_event()"/>
<makefile target="ap">
<file name="xsens.c"/>
<file name="xsens_common.c"/>
<file name="ins_xsens.c"/>
<file name="ins.c" dir="subsystems"/>
<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)"/>
<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
<file name="gps.c" dir="subsystems"/>
<define name="USE_GPS"/>
<define name="USE_GPS_XSENS"/>
<define name="USE_GPS_XSENS_RAW_DATA"/>
<define name="GPS_NB_CHANNELS" value="16"/>
<define name="GPS_TYPE_H" value="modules/ins/ins_xsens.h" type="string"/>