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_vectornav">
  b'<configure name="VN_PORT" value="uart3" />\n    '
  b'<configure name="VN_BAUD" value="B921600" />\n  '
</module>

Module configuration options

Configure Options

name: VN_PORT value: uart3
Description: UART to use
name: VN_BAUD value: B921600
Description: UART baudrate

Module functions

Init Functions

These initialization functions are called once on startup.

imu_vectornav_init()

Event Functions

These event functions are called in each cycle of the module event loop.

imu_vectornav_event()

Periodic Functions

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

imu_vectornav_init()
- Frequency in Hz: 1
- 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_vectornav.h

Source Files

Raw imu_vectornav.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_vectornav" dir="imu" task="sensors">
  <doc>
    <description>
      Vectornav VN-200 over uart used as IMU.
      The default configuration doesn't show MAG data.
      Vectornav is factory calibrated
    </description>
    <configure name="VN_PORT" value="uart3" description="UART to use"/>
    <configure name="VN_BAUD" value="B921600" description="UART baudrate"/>
  </doc>
  <dep>
    <depends>uart,imu_common</depends>
    <provides>imu</provides>
  </dep>
  <header>
    <file name="imu_vectornav.h"/>
  </header>
  <init fun="imu_vectornav_init()"/>
  <periodic fun="imu_vectornav_init()" freq="1"/>
  <event fun="imu_vectornav_event()"/>
  <makefile target="!sim|nps|fbw">
    <configure name="VN_PORT" default="uart3" case="upper|lower"/>
    <configure name="VN_BAUD" default="B921600"/>
    <define name="USE_$(VN_PORT_UPPER)"/>
    <define name="VN_PORT" value="$(VN_PORT_LOWER)"/>
    <define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
 
    <file name="vn200_serial.c" dir="peripherals"/>
    <file name="imu_vectornav.c"/>
  </makefile>
</module>