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imu_ardrone2_raw.h File Reference

IMU implementation for ardrone2-raw. More...

#include "subsystems/imu.h"
#include "generated/airframe.h"
#include "navdata.h"
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Macros

#define IMU_MAG_X_SIGN   1
 
#define IMU_MAG_Y_SIGN   1
 
#define IMU_MAG_Z_SIGN   1
 
#define IMU_GYRO_P_SIGN   1
 
#define IMU_GYRO_Q_SIGN   1
 
#define IMU_GYRO_R_SIGN   1
 
#define IMU_ACCEL_X_SIGN   1
 
#define IMU_ACCEL_Y_SIGN   1
 
#define IMU_ACCEL_Z_SIGN   1
 
#define IMU_GYRO_P_SENS   4.359
 default gyro sensitivy and neutral from the datasheet MPU with 2000 deg/s More...
 
#define IMU_GYRO_P_SENS_NUM   4359
 
#define IMU_GYRO_P_SENS_DEN   1000
 
#define IMU_GYRO_Q_SENS   4.359
 
#define IMU_GYRO_Q_SENS_NUM   4359
 
#define IMU_GYRO_Q_SENS_DEN   1000
 
#define IMU_GYRO_R_SENS   4.359
 
#define IMU_GYRO_R_SENS_NUM   4359
 
#define IMU_GYRO_R_SENS_DEN   1000
 
#define IMU_GYRO_P_NEUTRAL   0
 
#define IMU_GYRO_Q_NEUTRAL   0
 
#define IMU_GYRO_R_NEUTRAL   0
 
#define IMU_ACCEL_X_SENS   19.5
 default accel sensitivy from the datasheet 512 LSB/g More...
 
#define IMU_ACCEL_X_SENS_NUM   195
 
#define IMU_ACCEL_X_SENS_DEN   10
 
#define IMU_ACCEL_Y_SENS   19.5
 
#define IMU_ACCEL_Y_SENS_NUM   195
 
#define IMU_ACCEL_Y_SENS_DEN   10
 
#define IMU_ACCEL_Z_SENS   19.5
 
#define IMU_ACCEL_Z_SENS_NUM   195
 
#define IMU_ACCEL_Z_SENS_DEN   10
 
#define IMU_ACCEL_X_NEUTRAL   2048
 
#define IMU_ACCEL_Y_NEUTRAL   2048
 
#define IMU_ACCEL_Z_NEUTRAL   2048
 
#define IMU_MAG_X_SENS   16.0
 
#define IMU_MAG_X_SENS_NUM   16
 
#define IMU_MAG_X_SENS_DEN   1
 
#define IMU_MAG_Y_SENS   16.0
 
#define IMU_MAG_Y_SENS_NUM   16
 
#define IMU_MAG_Y_SENS_DEN   1
 
#define IMU_MAG_Z_SENS   16.0
 
#define IMU_MAG_Z_SENS_NUM   16
 
#define IMU_MAG_Z_SENS_DEN   1
 
#define IMU_MAG_X_NEUTRAL   0
 
#define IMU_MAG_Y_NEUTRAL   0
 
#define IMU_MAG_Z_NEUTRAL   0
 
#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler)
 

Functions

void navdata_event (void)
 
static void imu_ardrone2_event (void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
 

Detailed Description

IMU implementation for ardrone2-raw.

Definition in file imu_ardrone2_raw.h.

Macro Definition Documentation

#define IMU_ACCEL_X_NEUTRAL   2048

Definition at line 86 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_X_SENS   19.5

default accel sensitivy from the datasheet 512 LSB/g

Definition at line 74 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_X_SENS_DEN   10

Definition at line 76 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_X_SENS_NUM   195

Definition at line 75 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_X_SIGN   1

Definition at line 45 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Y_NEUTRAL   2048

Definition at line 87 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Y_SENS   19.5

Definition at line 77 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Y_SENS_DEN   10

Definition at line 79 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Y_SENS_NUM   195

Definition at line 78 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Y_SIGN   1

Definition at line 46 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Z_NEUTRAL   2048

Definition at line 88 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Z_SENS   19.5

Definition at line 80 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Z_SENS_DEN   10

Definition at line 82 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Z_SENS_NUM   195

Definition at line 81 of file imu_ardrone2_raw.h.

#define IMU_ACCEL_Z_SIGN   1

Definition at line 47 of file imu_ardrone2_raw.h.

#define IMU_GYRO_P_NEUTRAL   0

Definition at line 65 of file imu_ardrone2_raw.h.

#define IMU_GYRO_P_SENS   4.359

default gyro sensitivy and neutral from the datasheet MPU with 2000 deg/s

Definition at line 54 of file imu_ardrone2_raw.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 56 of file imu_ardrone2_raw.h.

#define IMU_GYRO_P_SENS_NUM   4359

Definition at line 55 of file imu_ardrone2_raw.h.

#define IMU_GYRO_P_SIGN   1

Definition at line 40 of file imu_ardrone2_raw.h.

#define IMU_GYRO_Q_NEUTRAL   0

Definition at line 66 of file imu_ardrone2_raw.h.

#define IMU_GYRO_Q_SENS   4.359

Definition at line 57 of file imu_ardrone2_raw.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 59 of file imu_ardrone2_raw.h.

#define IMU_GYRO_Q_SENS_NUM   4359

Definition at line 58 of file imu_ardrone2_raw.h.

#define IMU_GYRO_Q_SIGN   1

Definition at line 41 of file imu_ardrone2_raw.h.

#define IMU_GYRO_R_NEUTRAL   0

Definition at line 67 of file imu_ardrone2_raw.h.

#define IMU_GYRO_R_SENS   4.359

Definition at line 60 of file imu_ardrone2_raw.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 62 of file imu_ardrone2_raw.h.

#define IMU_GYRO_R_SENS_NUM   4359

Definition at line 61 of file imu_ardrone2_raw.h.

#define IMU_GYRO_R_SIGN   1

Definition at line 42 of file imu_ardrone2_raw.h.

#define IMU_MAG_X_NEUTRAL   0

Definition at line 104 of file imu_ardrone2_raw.h.

Referenced by imu_init().

#define IMU_MAG_X_SENS   16.0

Definition at line 92 of file imu_ardrone2_raw.h.

#define IMU_MAG_X_SENS_DEN   1

Definition at line 94 of file imu_ardrone2_raw.h.

#define IMU_MAG_X_SENS_NUM   16

Definition at line 93 of file imu_ardrone2_raw.h.

#define IMU_MAG_X_SIGN   1

Definition at line 35 of file imu_ardrone2_raw.h.

#define IMU_MAG_Y_NEUTRAL   0

Definition at line 105 of file imu_ardrone2_raw.h.

Referenced by imu_init().

#define IMU_MAG_Y_SENS   16.0

Definition at line 95 of file imu_ardrone2_raw.h.

#define IMU_MAG_Y_SENS_DEN   1

Definition at line 97 of file imu_ardrone2_raw.h.

#define IMU_MAG_Y_SENS_NUM   16

Definition at line 96 of file imu_ardrone2_raw.h.

#define IMU_MAG_Y_SIGN   1

Definition at line 36 of file imu_ardrone2_raw.h.

#define IMU_MAG_Z_NEUTRAL   0

Definition at line 106 of file imu_ardrone2_raw.h.

Referenced by imu_init().

#define IMU_MAG_Z_SENS   16.0

Definition at line 98 of file imu_ardrone2_raw.h.

#define IMU_MAG_Z_SENS_DEN   1

Definition at line 100 of file imu_ardrone2_raw.h.

#define IMU_MAG_Z_SENS_NUM   16

Definition at line 99 of file imu_ardrone2_raw.h.

#define IMU_MAG_Z_SIGN   1

Definition at line 37 of file imu_ardrone2_raw.h.

#define ImuEvent (   _gyro_handler,
  _accel_handler,
  _mag_handler 
)
Value:
{ \
imu_ardrone2_event(_gyro_handler, _accel_handler, _mag_handler); \
}
static void imu_ardrone2_event(void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))

Definition at line 130 of file imu_ardrone2_raw.h.

Function Documentation

static void imu_ardrone2_event ( void(*)(void)  _gyro_handler,
void(*)(void)  _accel_handler,
void(*)(void)  _mag_handler 
)
inlinestatic
void navdata_event ( void  )

Definition at line 39 of file imu_ardrone2_raw.c.

Referenced by imu_ardrone2_event().

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