imu_xsens module

XSens IMU.

Used to just provide IMU measurements. For use with an external AHRS algorithm.

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_xsens">
  b'<configure name="XSENS_PORT" value="uart1" />\n    '
  b'<configure name="XSENS_BAUD" value="B115200" />\n  '
</module>

Module configuration options

Configure Options

• name: XSENS_PORT value: uart1
  Description: The (uart) port the XSens is connected to
• name: XSENS_BAUD value: B115200
  Description: UART baud rate

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_xsens_init()

Event Functions

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

• imu_xsens_event()

Files

Header Files

The following headers are automatically included in modules.h

• imu_xsens.h

Source Files

• modules/ins/xsens.c
• modules/ins/xsens_parser.c
• modules/ins/imu_xsens.c

Raw imu_xsens.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_xsens" dir="ins" task="sensors">
  <doc>
    <description>
      XSens IMU.
      Used to just provide IMU measurements.
      For use with an external AHRS algorithm.
    </description>
    <configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
    <configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
  </doc>
  <dep>
    <depends>uart,imu_common</depends>
    <provides>imu,mag</provides>
  </dep>
  <header>
    <file name="imu_xsens.h"/>
  </header>
  <init fun="imu_xsens_init()"/>
  <event fun="imu_xsens_event()"/>
  <makefile target="ap">
    <file name="xsens.c"/>
    <file name="xsens_parser.c"/>
    <file name="imu_xsens.c"/>
 
    <configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
    <configure name="XSENS_BAUD" default="B115200"/>
    <define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
    <define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
    <define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
    <!-- TODO: check output mode -->
    <define name="XSENS_OUTPUT_MODE" value="0x1836"/>
    <test>
      <define name="XSENS_LINK" value="uart1"/>
      <define name="USE_UART1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>