ahrs_madgwick module

AHRS using IMU (accel, gyro) only with Madwick implementation.

No detailed description...

Example for airframe file

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

<module name="ahrs_madgwick">
  b'<define name="AHRS_MADWICK_IMU_ID" value="ABI_BROADCAST" />\n  '
  b'<configure name="AHRS_MADGWICK_TYPE" value="AHRS_PRIMARY|AHRS_SECONDARY" />\n    '
  b'<configure name="AHRS_ALIGNER_LED" value="1" />\n    '
</module>

Module configuration options

Configure Options

• name: AHRS_MADGWICK_TYPE value: AHRS_PRIMARY|AHRS_SECONDARY
  Description: set if the AHRS is the primary source (default) or one of the secondary sources
• name: AHRS_ALIGNER_LED value: 1
  Description: LED number to indicate AHRS alignment, none to disable (default is board dependent)

Define Options

• name: AHRS_MADWICK_IMU_ID value: ABI_BROADCAST
  Description: ABI sender id of IMU to use

Module functions

Init Functions

These initialization functions are called once on startup.

• ahrs_madgwick_wrapper_init()

Files

Header Files

The following headers are automatically included in modules.h

• ahrs_madgwick_wrapper.h

Source Files

• modules/ahrs/ahrs_madgwick.c
• modules/ahrs/ahrs_madgwick_wrapper.c

Raw ahrs_madgwick.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ahrs_madgwick" dir="ahrs" task="estimation">
  <doc>
    <description>
      AHRS using IMU (accel, gyro) only with Madwick implementation.
    </description>
    <configure name="AHRS_MADGWICK_TYPE" value="AHRS_PRIMARY|AHRS_SECONDARY" description="set if the AHRS is the primary source (default) or one of the secondary sources"/>
    <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
    <define name="AHRS_MADWICK_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
  </doc>
 
  <settings>
    <dl_settings>
      <dl_settings NAME="AHRS madgwick">
        <dl_setting var="ahrs_madgwick_enable" min="0" step="1" max="1" module="modules/ahrs/ahrs_madgwick_wrapper" values="DISABLE|ENABLE" handler="enable"/>
        <dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_madgwick.reset" shortname="reset"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <dep>
    <depends>ahrs_common,@imu</depends>
    <provides>ahrs</provides>
  </dep>
  <header>
    <file name="ahrs_madgwick_wrapper.h"/>
  </header>
  <init fun="ahrs_madgwick_wrapper_init()"/>
 
  <makefile target="!sim|fbw">
    <configure name="AHRS_MADGWICK_TYPE" default="AHRS_PRIMARY"/>
    <define name="AHRS_MADGWICK_TYPE" value="$(AHRS_MADGWICK_TYPE)"/>
    <configure name="USE_MAGNETOMETER" default="0"/>
    <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
    <file name="ahrs_madgwick.c"/>
    <file name="ahrs_madgwick_wrapper.c"/>
    <test>
      <define name="AHRS_MADGWICK_TYPE" value="AHRS_PRIMARY"/>
    </test>
  </makefile>
</module>