ahrs_madgwick module

AHRS using IMU (accel, gyro) only with Madwick implementation.

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!

<module name="ahrs_madgwick">
  b'<define name="AHRS_MADWICK_IMU_ID" value="ABI_BROADCAST" />\n  '
  b'<configure name="AHRS_ALIGNER_LED" value="1" />\n    '
</module>

Module configuration options

Configure Options

• name: AHRS_ALIGNER_LED value: 1
  Description: LED number to indicate AHRS alignment, none to disable (default is board dependent)

Define Options

• name: AHRS_MADWICK_IMU_ID value: ABI_BROADCAST
  Description: ABI sender id of IMU to use

Files

Header Files

The following headers are automatically included in modules.h

• ahrs.h

Source Files

• subsystems/ahrs.c
• subsystems/ahrs/ahrs_aligner.c
• modules/ahrs/ahrs_madgwick.c
• modules/ahrs/ahrs_madgwick_wrapper.c

Raw ahrs_madgwick.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ahrs_madgwick" dir="ahrs">
  <doc>
    <description>
      AHRS using IMU (accel, gyro) only with Madwick implementation.
    </description>
    <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
    <define name="AHRS_MADWICK_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
  </doc>
 
  <settings>
    <dl_settings>
      <dl_settings NAME="madwick">
        <dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_madgwick.reset" shortname="reset"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <header>
    <file name="ahrs.h" dir="subsystems"/>
  </header>
 
  <makefile target="!sim|fbw">
    <configure name="USE_MAGNETOMETER" default="0"/>
 
    <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
    <define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
    <define name="USE_AHRS"/>
    <define name="USE_AHRS_ALIGNER"/>
 
    <file name="ahrs.c" dir="subsystems"/>
    <file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
    <file name="ahrs_madgwick.c"/>
    <file name="ahrs_madgwick_wrapper.c"/>
    <raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), madwick))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_madgwick_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_madgwick
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_madgwick_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_madgwick
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_madgwick_wrapper.h\"
endif
    </raw>
    <test>
        <define name="PRIMARY_AHRS" value="ahrs_madgwick"/>
        <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_madgwick_wrapper.h" type="string"/>
    </test>
  </makefile>
</module>