#include "generated/airframe.h"
#include "boards/ardrone/navdata.h"
#include "subsystems/imu.h"

Include dependency graph for imu_ardrone2.h:

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Macros
#define	IMU_GYRO_P_SENS 4.359
	default gyro sensitivy and neutral from the datasheet MPU with 2000 deg/s More...

#define	IMU_GYRO_P_SENS_NUM 4359

#define	IMU_GYRO_P_SENS_DEN 1000

#define	IMU_GYRO_Q_SENS 4.359

#define	IMU_GYRO_Q_SENS_NUM 4359

#define	IMU_GYRO_Q_SENS_DEN 1000

#define	IMU_GYRO_R_SENS 4.359

#define	IMU_GYRO_R_SENS_NUM 4359

#define	IMU_GYRO_R_SENS_DEN 1000

#define	IMU_ACCEL_X_SENS 19.5
	default accel sensitivy from the datasheet 512 LSB/g More...

#define	IMU_ACCEL_X_SENS_NUM 195

#define	IMU_ACCEL_X_SENS_DEN 10

#define	IMU_ACCEL_Y_SENS 19.5

#define	IMU_ACCEL_Y_SENS_NUM 195

#define	IMU_ACCEL_Y_SENS_DEN 10

#define	IMU_ACCEL_Z_SENS 19.5

#define	IMU_ACCEL_Z_SENS_NUM 195

#define	IMU_ACCEL_Z_SENS_DEN 10

#define	IMU_ACCEL_X_NEUTRAL 2048

#define	IMU_ACCEL_Y_NEUTRAL 2048

#define	IMU_ACCEL_Z_NEUTRAL 2048

#define	IMU_MAG_X_SENS 16.0

#define	IMU_MAG_X_SENS_NUM 16

#define	IMU_MAG_X_SENS_DEN 1

#define	IMU_MAG_Y_SENS 16.0

#define	IMU_MAG_Y_SENS_NUM 16

#define	IMU_MAG_Y_SENS_DEN 1

#define	IMU_MAG_Z_SENS 16.0

#define	IMU_MAG_Z_SENS_NUM 16

#define	IMU_MAG_Z_SENS_DEN 1

Functions
void	imu_ardrone2_init (void)

Detailed Description

IMU implementation for ardrone2.

Definition in file imu_ardrone2.h.

Macro Definition Documentation

◆ IMU_ACCEL_X_NEUTRAL

#define IMU_ACCEL_X_NEUTRAL 2048

Definition at line 65 of file imu_ardrone2.h.

◆ IMU_ACCEL_X_SENS

#define IMU_ACCEL_X_SENS 19.5

default accel sensitivy from the datasheet 512 LSB/g

Definition at line 53 of file imu_ardrone2.h.

◆ IMU_ACCEL_X_SENS_DEN

#define IMU_ACCEL_X_SENS_DEN 10

Definition at line 55 of file imu_ardrone2.h.

◆ IMU_ACCEL_X_SENS_NUM

#define IMU_ACCEL_X_SENS_NUM 195

Definition at line 54 of file imu_ardrone2.h.

◆ IMU_ACCEL_Y_NEUTRAL

#define IMU_ACCEL_Y_NEUTRAL 2048

Definition at line 66 of file imu_ardrone2.h.

◆ IMU_ACCEL_Y_SENS

#define IMU_ACCEL_Y_SENS 19.5

Definition at line 56 of file imu_ardrone2.h.

◆ IMU_ACCEL_Y_SENS_DEN

#define IMU_ACCEL_Y_SENS_DEN 10

Definition at line 58 of file imu_ardrone2.h.

◆ IMU_ACCEL_Y_SENS_NUM

#define IMU_ACCEL_Y_SENS_NUM 195

Definition at line 57 of file imu_ardrone2.h.

◆ IMU_ACCEL_Z_NEUTRAL

#define IMU_ACCEL_Z_NEUTRAL 2048

Definition at line 67 of file imu_ardrone2.h.

◆ IMU_ACCEL_Z_SENS

#define IMU_ACCEL_Z_SENS 19.5

Definition at line 59 of file imu_ardrone2.h.

◆ IMU_ACCEL_Z_SENS_DEN

#define IMU_ACCEL_Z_SENS_DEN 10

Definition at line 61 of file imu_ardrone2.h.

◆ IMU_ACCEL_Z_SENS_NUM

#define IMU_ACCEL_Z_SENS_NUM 195

Definition at line 60 of file imu_ardrone2.h.

◆ IMU_GYRO_P_SENS

#define IMU_GYRO_P_SENS 4.359

default gyro sensitivy and neutral from the datasheet MPU with 2000 deg/s

Definition at line 38 of file imu_ardrone2.h.

◆ IMU_GYRO_P_SENS_DEN

#define IMU_GYRO_P_SENS_DEN 1000

Definition at line 40 of file imu_ardrone2.h.

◆ IMU_GYRO_P_SENS_NUM

#define IMU_GYRO_P_SENS_NUM 4359

Definition at line 39 of file imu_ardrone2.h.

◆ IMU_GYRO_Q_SENS

#define IMU_GYRO_Q_SENS 4.359

Definition at line 41 of file imu_ardrone2.h.

◆ IMU_GYRO_Q_SENS_DEN

#define IMU_GYRO_Q_SENS_DEN 1000

Definition at line 43 of file imu_ardrone2.h.

◆ IMU_GYRO_Q_SENS_NUM

#define IMU_GYRO_Q_SENS_NUM 4359

Definition at line 42 of file imu_ardrone2.h.

◆ IMU_GYRO_R_SENS

#define IMU_GYRO_R_SENS 4.359

Definition at line 44 of file imu_ardrone2.h.

◆ IMU_GYRO_R_SENS_DEN

#define IMU_GYRO_R_SENS_DEN 1000

Definition at line 46 of file imu_ardrone2.h.

◆ IMU_GYRO_R_SENS_NUM

#define IMU_GYRO_R_SENS_NUM 4359

Definition at line 45 of file imu_ardrone2.h.

◆ IMU_MAG_X_SENS

#define IMU_MAG_X_SENS 16.0

Definition at line 71 of file imu_ardrone2.h.

◆ IMU_MAG_X_SENS_DEN

#define IMU_MAG_X_SENS_DEN 1

Definition at line 73 of file imu_ardrone2.h.

◆ IMU_MAG_X_SENS_NUM

#define IMU_MAG_X_SENS_NUM 16

Definition at line 72 of file imu_ardrone2.h.

◆ IMU_MAG_Y_SENS

#define IMU_MAG_Y_SENS 16.0

Definition at line 74 of file imu_ardrone2.h.

◆ IMU_MAG_Y_SENS_DEN

#define IMU_MAG_Y_SENS_DEN 1

Definition at line 76 of file imu_ardrone2.h.

◆ IMU_MAG_Y_SENS_NUM

#define IMU_MAG_Y_SENS_NUM 16

Definition at line 75 of file imu_ardrone2.h.

◆ IMU_MAG_Z_SENS

#define IMU_MAG_Z_SENS 16.0

Definition at line 77 of file imu_ardrone2.h.

◆ IMU_MAG_Z_SENS_DEN

#define IMU_MAG_Z_SENS_DEN 1

Definition at line 79 of file imu_ardrone2.h.

◆ IMU_MAG_Z_SENS_NUM

#define IMU_MAG_Z_SENS_NUM 16

Definition at line 78 of file imu_ardrone2.h.

Function Documentation

◆ imu_ardrone2_init()

void imu_ardrone2_init ( void )

Definition at line 32 of file imu_ardrone2.c.

References navdata_init().

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Macros

Functions