Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
imu_gl1_defaults.h File Reference

Default sensitivity definitions for IMU GL1. More...

#include "generated/airframe.h"
+ Include dependency graph for imu_gl1_defaults.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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   5.006
 default gyro sensitivy and neutral from the datasheet L3G4200 has 8.75 LSB/(deg/s) sens = 1/xxx * pi/180 * 2^INT32_RATE_FRAC sens = 1/xxx * pi/180 * 4096 = ????? More...
 
#define IMU_GYRO_P_SENS_NUM   2503
 
#define IMU_GYRO_P_SENS_DEN   500
 
#define IMU_GYRO_Q_SENS   5.006
 
#define IMU_GYRO_Q_SENS_NUM   2503
 
#define IMU_GYRO_Q_SENS_DEN   500
 
#define IMU_GYRO_R_SENS   5.006
 
#define IMU_GYRO_R_SENS_NUM   2503
 
#define IMU_GYRO_R_SENS_DEN   500
 
#define IMU_ACCEL_X_SENS   37.91
 default accel sensitivy from the ADXL345 datasheet sensitivity of x & y axes depends on supply voltage: More...
 
#define IMU_ACCEL_X_SENS_NUM   3791
 
#define IMU_ACCEL_X_SENS_DEN   100
 
#define IMU_ACCEL_Y_SENS   37.91
 
#define IMU_ACCEL_Y_SENS_NUM   3791
 
#define IMU_ACCEL_Y_SENS_DEN   100
 
#define IMU_ACCEL_Z_SENS   39.24
 
#define IMU_ACCEL_Z_SENS_NUM   3924
 
#define IMU_ACCEL_Z_SENS_DEN   100
 

Detailed Description

Default sensitivity definitions for IMU GL1.

Definition in file imu_gl1_defaults.h.

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   37.91

default accel sensitivy from the ADXL345 datasheet sensitivity of x & y axes depends on supply voltage:

  • 256 LSB/g @ 2.5V
  • 265 LSB/g @ 3.3V z sensitivity stays at 256 LSB/g fixed point sens: 9.81 [m/s^2] / 256 [LSB/g] * 2^INT32_ACCEL_FRAC x/y sens = 9.81 / 265 * 1024 = 37.91 z sens = 9.81 / 256 * 1024 = 39.24

what about the offset at 3.3V?

Definition at line 83 of file imu_gl1_defaults.h.

#define IMU_ACCEL_X_SENS_DEN   100

Definition at line 85 of file imu_gl1_defaults.h.

#define IMU_ACCEL_X_SENS_NUM   3791

Definition at line 84 of file imu_gl1_defaults.h.

#define IMU_ACCEL_X_SIGN   1

Definition at line 44 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Y_SENS   37.91

Definition at line 86 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Y_SENS_DEN   100

Definition at line 88 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Y_SENS_NUM   3791

Definition at line 87 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Y_SIGN   1

Definition at line 45 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Z_SENS   39.24

Definition at line 89 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Z_SENS_DEN   100

Definition at line 91 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Z_SENS_NUM   3924

Definition at line 90 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Z_SIGN   1

Definition at line 46 of file imu_gl1_defaults.h.

#define IMU_GYRO_P_SENS   5.006

default gyro sensitivy and neutral from the datasheet L3G4200 has 8.75 LSB/(deg/s) sens = 1/xxx * pi/180 * 2^INT32_RATE_FRAC sens = 1/xxx * pi/180 * 4096 = ?????

250deg = 114.28 = 0.625 500deg = 57.14 = 1.25 2000deg = 14.28 = 5.006

Definition at line 60 of file imu_gl1_defaults.h.

#define IMU_GYRO_P_SENS_DEN   500

Definition at line 62 of file imu_gl1_defaults.h.

#define IMU_GYRO_P_SENS_NUM   2503

Definition at line 61 of file imu_gl1_defaults.h.

#define IMU_GYRO_P_SIGN   1

Definition at line 39 of file imu_gl1_defaults.h.

#define IMU_GYRO_Q_SENS   5.006

Definition at line 63 of file imu_gl1_defaults.h.

#define IMU_GYRO_Q_SENS_DEN   500

Definition at line 65 of file imu_gl1_defaults.h.

#define IMU_GYRO_Q_SENS_NUM   2503

Definition at line 64 of file imu_gl1_defaults.h.

#define IMU_GYRO_Q_SIGN   1

Definition at line 40 of file imu_gl1_defaults.h.

#define IMU_GYRO_R_SENS   5.006

Definition at line 66 of file imu_gl1_defaults.h.

#define IMU_GYRO_R_SENS_DEN   500

Definition at line 68 of file imu_gl1_defaults.h.

#define IMU_GYRO_R_SENS_NUM   2503

Definition at line 67 of file imu_gl1_defaults.h.

#define IMU_GYRO_R_SIGN   1

Definition at line 41 of file imu_gl1_defaults.h.

#define IMU_MAG_X_SIGN   1

Definition at line 34 of file imu_gl1_defaults.h.

#define IMU_MAG_Y_SIGN   1

Definition at line 35 of file imu_gl1_defaults.h.

#define IMU_MAG_Z_SIGN   1

Definition at line 36 of file imu_gl1_defaults.h.