![]() |
Paparazzi UAS
v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
|
Driver for the Drotek 10DOF V2 IMU. More...
#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_i2c.h"
#include "peripherals/hmc58xx.h"
Go to the source code of this file.
Data Structures | |
struct | ImuDrotek2 |
Macros | |
#define | IMU_GYRO_P_SENS 2.17953 |
default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I More... | |
#define | IMU_GYRO_P_SENS_NUM 18271 |
#define | IMU_GYRO_P_SENS_DEN 8383 |
#define | IMU_GYRO_Q_SENS 2.17953 |
#define | IMU_GYRO_Q_SENS_NUM 18271 |
#define | IMU_GYRO_Q_SENS_DEN 8383 |
#define | IMU_GYRO_R_SENS 2.17953 |
#define | IMU_GYRO_R_SENS_NUM 18271 |
#define | IMU_GYRO_R_SENS_DEN 8383 |
#define | IMU_ACCEL_X_SENS 2.4525 |
default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525 More... | |
#define | IMU_ACCEL_X_SENS_NUM 981 |
#define | IMU_ACCEL_X_SENS_DEN 400 |
#define | IMU_ACCEL_Y_SENS 2.4525 |
#define | IMU_ACCEL_Y_SENS_NUM 981 |
#define | IMU_ACCEL_Y_SENS_DEN 400 |
#define | IMU_ACCEL_Z_SENS 2.4525 |
#define | IMU_ACCEL_Z_SENS_NUM 981 |
#define | IMU_ACCEL_Z_SENS_DEN 400 |
#define | ImuEvent imu_drotek2_event |
Functions | |
void | imu_drotek2_event (void) |
bool_t | imu_drotek2_configure_mag_slave (Mpu60x0ConfigSet mpu_set, void *mpu) |
callback function to configure hmc5883 mag More... | |
Variables | |
struct ImuDrotek2 | imu_drotek2 |
Driver for the Drotek 10DOF V2 IMU.
MPU6050 + HMC5883 + MS5611
Definition in file imu_drotek_10dof_v2.h.
struct ImuDrotek2 |
Definition at line 76 of file imu_drotek_10dof_v2.h.
Data Fields | ||
---|---|---|
struct Hmc58xx | hmc | |
struct Mpu60x0_I2c | mpu |
#define IMU_ACCEL_X_SENS 2.4525 |
default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
Definition at line 64 of file imu_drotek_10dof_v2.h.
#define IMU_ACCEL_X_SENS_DEN 400 |
Definition at line 66 of file imu_drotek_10dof_v2.h.
#define IMU_ACCEL_X_SENS_NUM 981 |
Definition at line 65 of file imu_drotek_10dof_v2.h.
#define IMU_ACCEL_Y_SENS 2.4525 |
Definition at line 67 of file imu_drotek_10dof_v2.h.
#define IMU_ACCEL_Y_SENS_DEN 400 |
Definition at line 69 of file imu_drotek_10dof_v2.h.
#define IMU_ACCEL_Y_SENS_NUM 981 |
Definition at line 68 of file imu_drotek_10dof_v2.h.
#define IMU_ACCEL_Z_SENS 2.4525 |
Definition at line 70 of file imu_drotek_10dof_v2.h.
#define IMU_ACCEL_Z_SENS_DEN 400 |
Definition at line 72 of file imu_drotek_10dof_v2.h.
#define IMU_ACCEL_Z_SENS_NUM 981 |
Definition at line 71 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_P_SENS 2.17953 |
default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I
Definition at line 47 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_P_SENS_DEN 8383 |
Definition at line 49 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_P_SENS_NUM 18271 |
Definition at line 48 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_Q_SENS 2.17953 |
Definition at line 50 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_Q_SENS_DEN 8383 |
Definition at line 52 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_Q_SENS_NUM 18271 |
Definition at line 51 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_R_SENS 2.17953 |
Definition at line 53 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_R_SENS_DEN 8383 |
Definition at line 55 of file imu_drotek_10dof_v2.h.
#define IMU_GYRO_R_SENS_NUM 18271 |
Definition at line 54 of file imu_drotek_10dof_v2.h.
#define ImuEvent imu_drotek2_event |
Definition at line 86 of file imu_drotek_10dof_v2.h.
bool_t imu_drotek2_configure_mag_slave | ( | Mpu60x0ConfigSet | mpu_set, |
void * | mpu | ||
) |
callback function to configure hmc5883 mag
Definition at line 165 of file imu_drotek_10dof_v2.c.
References FALSE, ImuDrotek2::hmc, hmc58xx_start_configure(), imu_drotek2, Hmc58xx::initialized, and TRUE.
Referenced by imu_impl_init().
void imu_drotek2_event | ( | void | ) |
Definition at line 117 of file imu_drotek_10dof_v2.c.
References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Hmc58xx::data_available, Mpu60x0_I2c::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuDrotek2::hmc, hmc58xx_event(), imu, imu_drotek2, IMU_DROTEK_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuDrotek2::mpu, mpu60x0_i2c_event(), Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.
struct ImuDrotek2 imu_drotek2 |
Definition at line 80 of file imu_drotek_10dof_v2.c.
Referenced by imu_drotek2_configure_mag_slave(), imu_drotek2_event(), and imu_periodic().