imu_swing module

Driver for IMU on the Parrot Swing drone.

• Accelerometer/Gyroscope: MPU6000 via I2C0

Example for airframe file

Add to your firmware section:

<module name="imu_swing"/>

Auto-loaded modules

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

• imu_common module
• imu_nps module

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_swing_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• imu_swing_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• imu_swing_periodic()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• imu_swing.h

Source Files

• peripherals/mpu60x0.c
• peripherals/mpu60x0_i2c.c
• subsystems/imu/imu_swing.c

Raw imu_swing.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_swing" dir="imu">
  <doc>
    <description>
      Driver for IMU on the Parrot Swing drone.
      - Accelerometer/Gyroscope: MPU6000 via I2C0
    </description>
  </doc>
  <autoload name="imu_common"/>
  <autoload name="imu_nps"/>
  <!--autoload name="sonar_bebop"/-->
  <header>
    <file name="imu_swing.h" dir="subsystems/imu"/>
  </header>
  <init fun="imu_swing_init()"/>
  <periodic fun="imu_swing_periodic()"/>
  <event fun="imu_swing_event()"/>
  <makefile target="!sim|nps|fbw">
    <define name="USE_I2C0"/>
    <define name="IMU_TYPE_H" value="subsystems/imu/imu_swing.h" type="string"/>
    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_i2c.c" dir="peripherals"/>
    <file name="imu_swing.c" dir="subsystems/imu"/>
  </makefile>
</module>