imu_aspirin_v2.2 module

Aspirin v2.2 IMU.

• Accelerometer/Gyrocope: MPU6000 via SPI
• Magnetometer: HMC58xx via I2C Nearly identical with v2.1, only has the MS5611 baro on SPI. For configuration see the imu_aspirin_v2_common module

Example for airframe file

Add to your firmware section:

<module name="imu_aspirin_v2.2"/>

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

• imu_aspirin_v2_common module

Files

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_aspirin_v2.2" dir="imu">
  <doc>
    <description>
      Aspirin v2.2 IMU.
      - Accelerometer/Gyrocope: MPU6000 via SPI
      - Magnetometer: HMC58xx via I2C
      Nearly identical with v2.1, only has the MS5611 baro on SPI.
      For configuration see the imu_aspirin_v2_common module
    </description>
  </doc>
  <autoload name="imu_aspirin_v2_common"/>
  <makefile target="!sim|nps|fbw|hitl">
    <!-- SLAVE3 is on PC13, which is the baro CS -->
    <define name="DUSE_SPI_SLAVE3"/>
  </makefile>
</module>