Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="imu_heater">
  b'<define name="IMU_HEATER_TARGET_TEMP" value="55." unit="Celcius" />\n    '
  b'<define name="IMU_HEATER_P_GAIN" value="200." unit="%/degC" />\n    '
  b'<define name="IMU_HEATER_I_GAIN" value="0.3" />\n    '
  b'<define name="IMU_HEATER_GYRO_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="IMU_HEATER_ACCEL_ID" />\n    '
  b'<define name="IMU_HEATER_GPIO" />\n    '
  b'<define name="IMU_HEATER_GPIO_PIN" />\n    '
  b'<define name="INTERMCU_IOMCU" />\n  '
</module>

Module configuration options

Define Options

name: IMU_HEATER_TARGET_TEMP value: 55.
Description: Target temperature
name: IMU_HEATER_P_GAIN value: 200.
Description: kP gain for the heater
name: IMU_HEATER_I_GAIN value: 0.3
Description: kI gain for the heater
name: IMU_HEATER_GYRO_ID value: ABI_BROADCAST
Description: Gyro ABI id for the temperature measurement
name: IMU_HEATER_ACCEL_ID value: None
Description: Accel ABI id for the temperature measurement
name: IMU_HEATER_GPIO value: None
Description: Heater GPIO port for resistor activation
name: IMU_HEATER_GPIO_PIN value: None
Description: Heater GPIO pin for resistor activation
name: INTERMCU_IOMCU value: None
Description: Heater IOMCU communication enabled

Module functions

Init Functions

These initialization functions are called once on startup.

imu_heater_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

imu_heater_periodic()
- Running at maximum module frequency.
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
imu_heater_periodic_10hz()
- Frequency in Hz: 10
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

imu_heater.h

Source Files

modules/imu/imu_heater.c

Raw imu_heater.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_heater" dir="imu">
  <doc>
    <description>
      IMU Heater through a resistor or IO co-processor
    </description>
    <define name="IMU_HEATER_TARGET_TEMP" value="55." description="Target temperature" unit="Celcius"/>
    <define name="IMU_HEATER_P_GAIN" value="200." description="kP gain for the heater" unit="%/degC"/>
    <define name="IMU_HEATER_I_GAIN" value="0.3" description="kI gain for the heater"/>
    <define name="IMU_HEATER_GYRO_ID" value="ABI_BROADCAST" description="Gyro ABI id for the temperature measurement"/>
    <define name="IMU_HEATER_ACCEL_ID" description="Accel ABI id for the temperature measurement"/>
    <define name="IMU_HEATER_GPIO" description="Heater GPIO port for resistor activation"/>
    <define name="IMU_HEATER_GPIO_PIN" description="Heater GPIO pin for resistor activation"/>
    <define name="INTERMCU_IOMCU" description="Heater IOMCU communication enabled"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="IMU Heater">
        <dl_setting var="imu_heater.target_temp" min="-1" step="0.1" max="70" shortname="target_temp" param="IMU_HEATER_TARGET_TEMP"/>
        <dl_setting var="imu_heater.gain_p" min="0" step="0.1" max="500" shortname="gain_p" param="IMU_HEATER_P_GAIN"/>
        <dl_setting var="imu_heater.gain_i" min="0" step="0.01" max="10" shortname="gain_i" param="IMU_HEATER_I_GAIN"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="imu_heater.h"/>
  </header>
  <init fun="imu_heater_init()"/>
  <periodic fun="imu_heater_periodic()"/>
  <periodic fun="imu_heater_periodic_10hz()" freq="10"/>
  <makefile target="!sim|nps|fbw">
    <file name="imu_heater.c"/>
  </makefile>
</module>