Paparazzi UAS  v5.8.2_stable-0-g6260b7c
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imu_bebop.h
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1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
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10  *
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14  * GNU General Public License for more details.
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
28 #ifndef IMU_BEBOP_H
29 #define IMU_BEBOP_H
30 
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
34 #include "peripherals/ak8963.h"
36 
42 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
43 // FIXME
44 #define IMU_GYRO_P_SENS 2.17953
45 #define IMU_GYRO_P_SENS_NUM 18271
46 #define IMU_GYRO_P_SENS_DEN 8383
47 #define IMU_GYRO_Q_SENS 2.17953
48 #define IMU_GYRO_Q_SENS_NUM 18271
49 #define IMU_GYRO_Q_SENS_DEN 8383
50 #define IMU_GYRO_R_SENS 2.17953
51 #define IMU_GYRO_R_SENS_NUM 18271
52 #define IMU_GYRO_R_SENS_DEN 8383
53 #endif
54 
59 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
60 // FIXME
61 #define IMU_ACCEL_X_SENS 2.4525
62 #define IMU_ACCEL_X_SENS_NUM 981
63 #define IMU_ACCEL_X_SENS_DEN 400
64 #define IMU_ACCEL_Y_SENS 2.4525
65 #define IMU_ACCEL_Y_SENS_NUM 981
66 #define IMU_ACCEL_Y_SENS_DEN 400
67 #define IMU_ACCEL_Z_SENS 2.4525
68 #define IMU_ACCEL_Z_SENS_NUM 981
69 #define IMU_ACCEL_Z_SENS_DEN 400
70 #endif
71 
73 struct ImuBebop {
74  struct Mpu60x0_I2c mpu;
75  struct Ak8963 ak;
76 };
77 
78 extern struct ImuBebop imu_bebop;
79 extern void imu_bebop_event(void);
80 
81 #define ImuEvent imu_bebop_event
82 
83 #endif /* IMU_BEBOP_H */
Register and address definitions for AK8963 magnetometer.
struct Mpu60x0_I2c mpu
The MPU gyro/accel device.
Definition: imu_bebop.h:74
void imu_bebop_event(void)
Handle all the events of the Navstik IMU components.
Definition: imu_bebop.c:109
Default Ak8963 structure.
Definition: ak8963.h:53
Inertial Measurement Unit interface.
Driver for the MPU-60X0 using I2C.
Everything that is in the bebop IMU.
Definition: imu_bebop.h:73
struct Ak8963 ak
The AK8963 mag.
Definition: imu_bebop.h:75
struct ImuBebop imu_bebop
Basic Navstik IMU data.
Definition: imu_bebop.c:74