Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
Paparazzi is a free software Unmanned Aircraft System.
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imu_apogee module

Driver for IMU on Apogee board.

  • Accelerometer/Gyroscope: MPU60x0 via I2C1

Example for airframe file

Add to your firmware section:

1 <module name="imu_apogee"/>

Auto-loaded modules

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

Module functions

Init Functions

These initialization functions are called once on startup.

Event Functions

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

Periodic Functions

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

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


Header Files

The following headers are automatically included in modules.h

Source Files

Raw imu_apogee.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_apogee" dir="imu">
Driver for IMU on Apogee board.
- Accelerometer/Gyroscope: MPU60x0 via I2C1
<autoload name="imu_common"/>
<autoload name="imu_nps"/>
<file name="imu_apogee.h" dir="boards/apogee"/>
<init fun="imu_apogee_init()"/>
<periodic fun="imu_apogee_periodic()"/>
<event fun="imu_apogee_event()"/>
<makefile target="!sim|nps|fbw">
<!-- MPU is on I2C1 on Apogee -->
<define name="IMU_APOGEE_I2C_DEV" value="i2c1"/>
<define name="USE_I2C1"/>
<define name="IMU_TYPE_H" value="boards/apogee/imu_apogee.h" type="string"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_i2c.c" dir="peripherals"/>
<file name="imu_apogee.c" dir="boards/apogee"/>
<define name="USE_I2C1"/>
<define name="IMU_APOGEE_I2C_DEV" value="i2c1"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>