Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
imu_apogee_mpu9150 module

Driver for IMU on Apogee board.

  • Accelerometer/Gyroscope/Mag: MPU9150 via I2C1

Example for airframe file

Add to your firmware section:

<module name="imu_apogee_mpu9150"/>

Module configuration options

Airframe file section

  • section name: IMU prefix: IMU_
    • name MAG_X_NEUTRAL value: 2358
    • name MAG_Y_NEUTRAL value: 2362
    • name MAG_Z_NEUTRAL value: 2119
    • name MAG_X_SENS value: 3.4936416
    • name MAG_Y_SENS value: 3.607713
    • name MAG_Z_SENS value: 4.90788848

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw imu_apogee_mpu9150.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_apogee_mpu9150" dir="imu" task="sensors">
<doc>
<description>
Driver for IMU on Apogee board.
- Accelerometer/Gyroscope/Mag: MPU9150 via I2C1
</description>
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="2358"/>
<define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
</section>
</doc>
<dep>
<depends>i2c,imu_apogee</depends>
<provides>imu,mag</provides>
</dep>
<header>
<file name="imu_apogee.h" dir="boards/apogee"/>
</header>
<makefile target="!sim|nps|fbw">
<!-- only add ak8975 mag to "normal" apogee driver -->
<define name="APOGEE_USE_MPU9150"/>
<file name="ak8975.c" dir="peripherals"/>
<test/>
</makefile>
</module>