Driver for the IMU on the Apogee board. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_i2c.h"

Include dependency graph for imu_apogee.h:

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Go to the source code of this file.

Data Structures
struct	ImuApogee

Macros
#define	IMU_GYRO_P_SIGN 1

#define	IMU_GYRO_Q_SIGN 1

#define	IMU_GYRO_R_SIGN 1

#define	IMU_ACCEL_X_SIGN 1

#define	IMU_ACCEL_Y_SIGN 1

#define	IMU_ACCEL_Z_SIGN 1

#define	IMU_GYRO_P_SENS 2.17953
	default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I More...

#define	IMU_GYRO_P_SENS_NUM 18271

#define	IMU_GYRO_P_SENS_DEN 8383

#define	IMU_GYRO_Q_SENS 2.17953

#define	IMU_GYRO_Q_SENS_NUM 18271

#define	IMU_GYRO_Q_SENS_DEN 8383

#define	IMU_GYRO_R_SENS 2.17953

#define	IMU_GYRO_R_SENS_NUM 18271

#define	IMU_GYRO_R_SENS_DEN 8383

#define	IMU_GYRO_P_NEUTRAL 0

#define	IMU_GYRO_Q_NEUTRAL 0

#define	IMU_GYRO_R_NEUTRAL 0

#define	IMU_ACCEL_X_SENS 2.4525
	default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525 More...

#define	IMU_ACCEL_X_SENS_NUM 981

#define	IMU_ACCEL_X_SENS_DEN 400

#define	IMU_ACCEL_Y_SENS 2.4525

#define	IMU_ACCEL_Y_SENS_NUM 981

#define	IMU_ACCEL_Y_SENS_DEN 400

#define	IMU_ACCEL_Z_SENS 2.4525

#define	IMU_ACCEL_Z_SENS_NUM 981

#define	IMU_ACCEL_Z_SENS_DEN 400

#define	IMU_ACCEL_X_NEUTRAL 0

#define	IMU_ACCEL_Y_NEUTRAL 0

#define	IMU_ACCEL_Z_NEUTRAL 0

#define	ImuEvent imu_apogee_event

Functions
void	imu_apogee_event (void)

void	imu_apogee_downlink_raw (void)

Variables
struct ImuApogee	imu_apogee

Detailed Description

Driver for the IMU on the Apogee board.

Invensense MPU-6050

Definition in file imu_apogee.h.

Data Structure Documentation

struct ImuApogee

Definition at line 97 of file imu_apogee.h.

Collaboration diagram for ImuApogee:

Data Fields
struct Mpu60x0_I2c	mpu

Macro Definition Documentation

#define IMU_ACCEL_X_NEUTRAL 0

Definition at line 92 of file imu_apogee.h.

Referenced by imu_init().

#define IMU_ACCEL_X_SENS 2.4525

default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525

Definition at line 81 of file imu_apogee.h.

#define IMU_ACCEL_X_SENS_DEN 400

Definition at line 83 of file imu_apogee.h.

Referenced by imu_quality_assessment_periodic(), and imu_scale_accel().

#define IMU_ACCEL_X_SENS_NUM 981

Definition at line 82 of file imu_apogee.h.

Referenced by imu_quality_assessment_periodic(), and imu_scale_accel().

#define IMU_ACCEL_X_SIGN 1

Definition at line 46 of file imu_apogee.h.

Referenced by imu_scale_accel().

#define IMU_ACCEL_Y_NEUTRAL 0

Definition at line 93 of file imu_apogee.h.

Referenced by imu_init().

#define IMU_ACCEL_Y_SENS 2.4525

Definition at line 84 of file imu_apogee.h.

#define IMU_ACCEL_Y_SENS_DEN 400

Definition at line 86 of file imu_apogee.h.

Referenced by imu_scale_accel().

#define IMU_ACCEL_Y_SENS_NUM 981

Definition at line 85 of file imu_apogee.h.

Referenced by imu_scale_accel().

#define IMU_ACCEL_Y_SIGN 1

Definition at line 47 of file imu_apogee.h.

Referenced by imu_scale_accel().

#define IMU_ACCEL_Z_NEUTRAL 0

Definition at line 94 of file imu_apogee.h.

Referenced by imu_init().

#define IMU_ACCEL_Z_SENS 2.4525

Definition at line 87 of file imu_apogee.h.

#define IMU_ACCEL_Z_SENS_DEN 400

Definition at line 89 of file imu_apogee.h.

Referenced by imu_scale_accel().

#define IMU_ACCEL_Z_SENS_NUM 981

Definition at line 88 of file imu_apogee.h.

Referenced by imu_scale_accel().

#define IMU_ACCEL_Z_SIGN 1

Definition at line 48 of file imu_apogee.h.

Referenced by imu_scale_accel().

#define IMU_GYRO_P_NEUTRAL 0

Definition at line 69 of file imu_apogee.h.

Referenced by imu_init().

#define IMU_GYRO_P_SENS 2.17953

default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I

Definition at line 58 of file imu_apogee.h.

#define IMU_GYRO_P_SENS_DEN 8383

Definition at line 60 of file imu_apogee.h.

Referenced by imu_scale_gyro().

#define IMU_GYRO_P_SENS_NUM 18271

Definition at line 59 of file imu_apogee.h.

Referenced by imu_scale_gyro().

#define IMU_GYRO_P_SIGN 1

Definition at line 41 of file imu_apogee.h.

Referenced by imu_scale_gyro().

#define IMU_GYRO_Q_NEUTRAL 0

Definition at line 70 of file imu_apogee.h.