imu_common module

Common part for all IMUs.

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="imu_common"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_init()

Files

Header Files

The following headers are automatically included in modules.h

• imu.h

Source Files

• subsystems/imu.c

Raw imu_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_common" dir="imu">
  <doc>
    <description>
      Common part for all IMUs.
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="body2imu">
        <dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PHI" unit="rad" alt_unit="deg" handler="SetBodyToImuPhi" type="float" persistent="true"/>
        <dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.theta" shortname="b2i theta" module="subsystems/imu" param="IMU_BODY_TO_IMU_THETA" unit="rad" alt_unit="deg" handler="SetBodyToImuTheta" type="float" persistent="true"/>
        <dl_setting MAX="180" MIN="-180" STEP="0.5" VAR="imu.body_to_imu.eulers_f.psi" shortname="b2i psi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PSI" unit="rad" alt_unit="deg" handler="SetBodyToImuPsi" type="float" persistent="true"/>
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="imu.b2i_set_current" values="FALSE|TRUE" shortname="b2i cur roll/pitch" module="subsystems/imu" handler="SetBodyToImuCurrent"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="imu.h" dir="subsystems"/>
  </header>
  <init fun="imu_init()"/>

  <makefile target="!sim|fbw">
    <define name="USE_IMU"/>
    <file name="imu.c" dir="subsystems"/>
  </makefile>
</module>