imu_chimera module

MPU9250 IMU via SPI.

Basically the same as imu_mpu9250_spi, only changed axes assignment for Chimera.

Example for airframe file

Add to your firmware section:

<module name="imu_chimera"/>

Auto-loaded modules

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

• imu_mpu9250_i2c module

Files

Raw imu_chimera.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_chimera" dir="imu">
  <doc>
    <description>
      MPU9250 IMU via SPI.
      Basically the same as imu_mpu9250_spi, only changed axes assignment for Chimera.
    </description>
  </doc>
  <autoload name="imu_mpu9250_i2c"/>
  <makefile target="!sim|nps|fbw">
    <configure name="IMU_MPU9250_I2C_DEV" value="i2c1" case="upper|lower"/>
    <define name="IMU_MPU9250_CHAN_X" value="1"/>
    <define name="IMU_MPU9250_CHAN_Y" value="0"/>
    <define name="IMU_MPU9250_CHAN_Z" value="2"/>
    <define name="IMU_MPU9250_X_SIGN" value="-1"/>
    <define name="IMU_MPU9250_Y_SIGN" value="-1"/>
    <define name="IMU_MPU9250_Z_SIGN" value="-1"/>
  </makefile>
</module>