imu_gl1_defaults.h File Reference

Default sensitivity definitions for IMU GL1. More...

#include "generated/airframe.h"

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Macros
#define	IMU_GYRO_P_SENS   5.006
	default gyro sensitivy and neutral from the datasheet L3G4200 has 8.75 LSB/(deg/s) sens = 1/xxx * pi/180 * 2^INT32_RATE_FRAC sens = 1/xxx * pi/180 * 4096 = ????? More...
#define	IMU_GYRO_P_SENS_NUM   2503
#define	IMU_GYRO_P_SENS_DEN   500
#define	IMU_GYRO_Q_SENS   5.006
#define	IMU_GYRO_Q_SENS_NUM   2503
#define	IMU_GYRO_Q_SENS_DEN   500
#define	IMU_GYRO_R_SENS   5.006
#define	IMU_GYRO_R_SENS_NUM   2503
#define	IMU_GYRO_R_SENS_DEN   500
#define	IMU_ACCEL_X_SENS   37.91
	default accel sensitivy from the ADXL345 datasheet sensitivity of x & y axes depends on supply voltage: More...
#define	IMU_ACCEL_X_SENS_NUM   3791
#define	IMU_ACCEL_X_SENS_DEN   100
#define	IMU_ACCEL_Y_SENS   37.91
#define	IMU_ACCEL_Y_SENS_NUM   3791
#define	IMU_ACCEL_Y_SENS_DEN   100
#define	IMU_ACCEL_Z_SENS   39.24
#define	IMU_ACCEL_Z_SENS_NUM   3924
#define	IMU_ACCEL_Z_SENS_DEN   100

Detailed Description

Default sensitivity definitions for IMU GL1.

Definition in file imu_gl1_defaults.h.

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   37.91

default accel sensitivy from the ADXL345 datasheet sensitivity of x & y axes depends on supply voltage:

• 256 LSB/g @ 2.5V
• 265 LSB/g @ 3.3V z sensitivity stays at 256 LSB/g fixed point sens: 9.81 [m/s^2] / 256 [LSB/g] * 2^INT32_ACCEL_FRAC x/y sens = 9.81 / 265 * 1024 = 37.91 z sens = 9.81 / 256 * 1024 = 39.24

what about the offset at 3.3V?

Definition at line 66 of file imu_gl1_defaults.h.

#define IMU_ACCEL_X_SENS_DEN   100

Definition at line 68 of file imu_gl1_defaults.h.

#define IMU_ACCEL_X_SENS_NUM   3791

Definition at line 67 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Y_SENS   37.91

Definition at line 69 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Y_SENS_DEN   100

Definition at line 71 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Y_SENS_NUM   3791

Definition at line 70 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Z_SENS   39.24

Definition at line 72 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Z_SENS_DEN   100

Definition at line 74 of file imu_gl1_defaults.h.

#define IMU_ACCEL_Z_SENS_NUM   3924

Definition at line 73 of file imu_gl1_defaults.h.

#define IMU_GYRO_P_SENS   5.006

default gyro sensitivy and neutral from the datasheet L3G4200 has 8.75 LSB/(deg/s) sens = 1/xxx * pi/180 * 2^INT32_RATE_FRAC sens = 1/xxx * pi/180 * 4096 = ?????

250deg = 114.28 = 0.625 500deg = 57.14 = 1.25 2000deg = 14.28 = 5.006

Definition at line 43 of file imu_gl1_defaults.h.

#define IMU_GYRO_P_SENS_DEN   500

Definition at line 45 of file imu_gl1_defaults.h.

#define IMU_GYRO_P_SENS_NUM   2503

Definition at line 44 of file imu_gl1_defaults.h.

#define IMU_GYRO_Q_SENS   5.006

Definition at line 46 of file imu_gl1_defaults.h.

#define IMU_GYRO_Q_SENS_DEN   500

Definition at line 48 of file imu_gl1_defaults.h.

#define IMU_GYRO_Q_SENS_NUM   2503

Definition at line 47 of file imu_gl1_defaults.h.

#define IMU_GYRO_R_SENS   5.006

Definition at line 49 of file imu_gl1_defaults.h.

#define IMU_GYRO_R_SENS_DEN   500

Definition at line 51 of file imu_gl1_defaults.h.

#define IMU_GYRO_R_SENS_NUM   2503

Definition at line 50 of file imu_gl1_defaults.h.