imu_px4_defaults.h File Reference

Default sensitivity definitions for the Pixhawk IMU using the l3d20 gyro and lsm303dlc acc. More...

#include "generated/airframe.h"

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Macros
#define	IMU_GYRO_P_SENS_NUM   5004
	default gyro sensitivy and neutral from the datasheet L3GD20 has 70e-3 LSB/(deg/s) at 2000deg/s range sens = 70e-3 * pi/180 * 2^INT32_RATE_FRAC sens = (70e-3 / 180.0f) * pi * 4096 More...
#define	IMU_GYRO_P_SENS_DEN   1000
#define	IMU_GYRO_Q_SENS_NUM   5004
#define	IMU_GYRO_Q_SENS_DEN   1000
#define	IMU_GYRO_R_SENS_NUM   5004
#define	IMU_GYRO_R_SENS_DEN   1000
#define	IMU_ACCEL_X_SENS   13.723
	default accel sensitivy from the datasheet LSM303DLHC has 732 LSB/g fixed point sens: 9.81 [m/s^2] / 732 [LSB/g] * 2^INT32_ACCEL_FRAC sens = 9.81 / 732 * 1024 = 13.72 More...
#define	IMU_ACCEL_X_SENS_NUM   13723
#define	IMU_ACCEL_X_SENS_DEN   1000
#define	IMU_ACCEL_Y_SENS   13.723
#define	IMU_ACCEL_Y_SENS_NUM   13723
#define	IMU_ACCEL_Y_SENS_DEN   1000
#define	IMU_ACCEL_Z_SENS   13.723
#define	IMU_ACCEL_Z_SENS_NUM   13723
#define	IMU_ACCEL_Z_SENS_DEN   1000

Detailed Description

Default sensitivity definitions for the Pixhawk IMU using the l3d20 gyro and lsm303dlc acc.

Definition in file imu_px4_defaults.h.

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   13.723

default accel sensitivy from the datasheet LSM303DLHC has 732 LSB/g fixed point sens: 9.81 [m/s^2] / 732 [LSB/g] * 2^INT32_ACCEL_FRAC sens = 9.81 / 732 * 1024 = 13.72

Definition at line 53 of file imu_px4_defaults.h.

#define IMU_ACCEL_X_SENS_DEN   1000

Definition at line 55 of file imu_px4_defaults.h.

#define IMU_ACCEL_X_SENS_NUM   13723

Definition at line 54 of file imu_px4_defaults.h.

#define IMU_ACCEL_Y_SENS   13.723

Definition at line 56 of file imu_px4_defaults.h.

#define IMU_ACCEL_Y_SENS_DEN   1000

Definition at line 58 of file imu_px4_defaults.h.

#define IMU_ACCEL_Y_SENS_NUM   13723

Definition at line 57 of file imu_px4_defaults.h.

#define IMU_ACCEL_Z_SENS   13.723

Definition at line 59 of file imu_px4_defaults.h.

#define IMU_ACCEL_Z_SENS_DEN   1000

Definition at line 61 of file imu_px4_defaults.h.

#define IMU_ACCEL_Z_SENS_NUM   13723

Definition at line 60 of file imu_px4_defaults.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 39 of file imu_px4_defaults.h.

#define IMU_GYRO_P_SENS_NUM   5004

default gyro sensitivy and neutral from the datasheet L3GD20 has 70e-3 LSB/(deg/s) at 2000deg/s range sens = 70e-3 * pi/180 * 2^INT32_RATE_FRAC sens = (70e-3 / 180.0f) * pi * 4096

Definition at line 38 of file imu_px4_defaults.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 41 of file imu_px4_defaults.h.

#define IMU_GYRO_Q_SENS_NUM   5004

Definition at line 40 of file imu_px4_defaults.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 43 of file imu_px4_defaults.h.

#define IMU_GYRO_R_SENS_NUM   5004

Definition at line 42 of file imu_px4_defaults.h.