imu_mpu60x0_defaults.h File Reference

Default sensitivity definitions for an IMU using the MPU60x0. More...

#include "generated/airframe.h"

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Macros
#define	IMU_GYRO_P_SENS   4.359
	default gyro sensitivy and neutral from the datasheet MPU60X0 has 16.4 LSB/(deg/s) at 2000deg/s range sens = 1/16.4 * pi/180 * 2^INT32_RATE_FRAC sens = 1/16.4 * pi/180 * 4096 = 4.359066229 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   4.905
	default accel sensitivy from the datasheet MPU60X0 has 2048 LSB/g fixed point sens: 9.81 [m/s^2] / 2048 [LSB/g] * 2^INT32_ACCEL_FRAC sens = 9.81 / 2048 * 1024 = 4.905 More...
#define	IMU_ACCEL_X_SENS_NUM   4905
#define	IMU_ACCEL_X_SENS_DEN   1000
#define	IMU_ACCEL_Y_SENS   4.905
#define	IMU_ACCEL_Y_SENS_NUM   4905
#define	IMU_ACCEL_Y_SENS_DEN   1000
#define	IMU_ACCEL_Z_SENS   4.905
#define	IMU_ACCEL_Z_SENS_NUM   4905
#define	IMU_ACCEL_Z_SENS_DEN   1000

Detailed Description

Default sensitivity definitions for an IMU using the MPU60x0.

Definition in file imu_mpu60x0_defaults.h.

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   4.905

default accel sensitivy from the datasheet MPU60X0 has 2048 LSB/g fixed point sens: 9.81 [m/s^2] / 2048 [LSB/g] * 2^INT32_ACCEL_FRAC sens = 9.81 / 2048 * 1024 = 4.905

Definition at line 55 of file imu_mpu60x0_defaults.h.

#define IMU_ACCEL_X_SENS_DEN   1000

Definition at line 57 of file imu_mpu60x0_defaults.h.

#define IMU_ACCEL_X_SENS_NUM   4905

Definition at line 56 of file imu_mpu60x0_defaults.h.

#define IMU_ACCEL_Y_SENS   4.905

Definition at line 58 of file imu_mpu60x0_defaults.h.

#define IMU_ACCEL_Y_SENS_DEN   1000

Definition at line 60 of file imu_mpu60x0_defaults.h.

#define IMU_ACCEL_Y_SENS_NUM   4905

Definition at line 59 of file imu_mpu60x0_defaults.h.

#define IMU_ACCEL_Z_SENS   4.905

Definition at line 61 of file imu_mpu60x0_defaults.h.

#define IMU_ACCEL_Z_SENS_DEN   1000

Definition at line 63 of file imu_mpu60x0_defaults.h.

#define IMU_ACCEL_Z_SENS_NUM   4905

Definition at line 62 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_P_SENS   4.359

default gyro sensitivy and neutral from the datasheet MPU60X0 has 16.4 LSB/(deg/s) at 2000deg/s range sens = 1/16.4 * pi/180 * 2^INT32_RATE_FRAC sens = 1/16.4 * pi/180 * 4096 = 4.359066229

Definition at line 38 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 40 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_P_SENS_NUM   4359

Definition at line 39 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_Q_SENS   4.359

Definition at line 41 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 43 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_Q_SENS_NUM   4359

Definition at line 42 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_R_SENS   4.359

Definition at line 44 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 46 of file imu_mpu60x0_defaults.h.

#define IMU_GYRO_R_SENS_NUM   4359

Definition at line 45 of file imu_mpu60x0_defaults.h.