imu_px4fmu_v2.4.h File Reference

Driver for pixhawk IMU's. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "subsystems/imu/imu_px4_defaults.h"
#include "peripherals/l3gd20_spi.h"
#include "peripherals/lsm303dlhc_spi.h"

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Data Structures
struct	ImuPX4

Macros
#define	IMU_PX4_DISABLE_MAG   FALSE

Functions
void	imu_px4_init (void)
void	imu_px4_periodic (void)
void	imu_px4_event (void)

Variables
struct ImuPX4	imu_px4

Detailed Description

Driver for pixhawk IMU's.

L3GD20H + LSM303D (both on spi)

Definition in file imu_px4fmu_v2.4.h.

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Data Structure Documentation

struct ImuPX4

Definition at line 47 of file imu_px4fmu_v2.4.h.

Collaboration diagram for ImuPX4:

Data Fields
struct L3gd20_Spi	l3g
struct Lsm303dlhc_Spi	lsm_acc
struct Lsm303dlhc_Spi	lsm_mag

Macro Definition Documentation

#define IMU_PX4_DISABLE_MAG   FALSE

Definition at line 43 of file imu_px4fmu_v2.4.h.

Function Documentation

void imu_px4_event

(

void

)

Definition at line 71 of file imu_px4fmu_v2.4.c.

References Imu::accel, Imu::accel_unscaled, Lsm303dlhc_Spi::data_accel, L3gd20_Spi::data_available, Lsm303dlhc_Spi::data_available_acc, Lsm303dlhc_Spi::data_available_mag, Lsm303dlhc_Spi::data_mag, L3gd20_Spi::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_px4, IMU_PX4_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), ImuPX4::l3g, l3gd20_spi_event(), lsm303dlhc_spi_event(), ImuPX4::lsm_acc, ImuPX4::lsm_mag, Imu::mag, Imu::mag_unscaled, Int32Rates::p, Int32Rates::q, Int32Rates::r, and VECT3_COPY.

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void imu_px4_init

(

void

)

Definition at line 43 of file imu_px4fmu_v2.4.c.

References ImuPX4::l3g, l3gd20_spi_init(), lsm303dlhc_spi_init(), ImuPX4::lsm_acc, ImuPX4::lsm_mag, LSM_TARGET_ACC, and LSM_TARGET_MAG.

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void imu_px4_periodic

(

void

)

Definition at line 58 of file imu_px4fmu_v2.4.c.

References imu_px4, ImuPX4::l3g, l3gd20_spi_periodic(), lsm303dlhc_spi_periodic(), ImuPX4::lsm_acc, and ImuPX4::lsm_mag.

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Variable Documentation

struct ImuPX4 imu_px4

Definition at line 41 of file imu_px4fmu_v2.4.c.

Referenced by imu_px4_event(), and imu_px4_periodic().