Paparazzi UAS
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Paparazzi is a free software Unmanned Aircraft System.
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imu_mpu9250_i2c.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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#ifndef IMU_MPU9250_I2C_H
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#define IMU_MPU9250_I2C_H
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#include "
std.h
"
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#include "generated/airframe.h"
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#include "
subsystems/imu.h
"
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#include "
peripherals/mpu9250_i2c.h
"
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#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
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// FIXME
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#define IMU_GYRO_P_SENS 2.17953
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#define IMU_GYRO_P_SENS_NUM 18271
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#define IMU_GYRO_P_SENS_DEN 8383
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#define IMU_GYRO_Q_SENS 2.17953
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#define IMU_GYRO_Q_SENS_NUM 18271
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#define IMU_GYRO_Q_SENS_DEN 8383
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#define IMU_GYRO_R_SENS 2.17953
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#define IMU_GYRO_R_SENS_NUM 18271
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#define IMU_GYRO_R_SENS_DEN 8383
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#endif
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#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
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// FIXME
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#define IMU_ACCEL_X_SENS 2.4525
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#define IMU_ACCEL_X_SENS_NUM 981
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#define IMU_ACCEL_X_SENS_DEN 400
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#define IMU_ACCEL_Y_SENS 2.4525
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#define IMU_ACCEL_Y_SENS_NUM 981
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#define IMU_ACCEL_Y_SENS_DEN 400
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#define IMU_ACCEL_Z_SENS 2.4525
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#define IMU_ACCEL_Z_SENS_NUM 981
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#define IMU_ACCEL_Z_SENS_DEN 400
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#endif
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struct
ImuMpu9250
{
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struct
Mpu9250_I2c
mpu
;
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};
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extern
struct
ImuMpu9250
imu_mpu9250
;
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extern
void
imu_mpu9250_event
(
void
);
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#define ImuEvent imu_mpu9250_event
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#endif
/* IMU_MPU9250_I2C_H */
imu_mpu9250_event
void imu_mpu9250_event(void)
Definition:
imu_mpu9250.c:47
ImuMpu9250::mpu
struct Mpu9250_I2c mpu
Definition:
imu_mpu9250_i2c.h:75
imu.h
Inertial Measurement Unit interface.
std.h
ImuMpu9250
Definition:
imu_mpu9250_i2c.h:74
imu_mpu9250
struct ImuMpu9250 imu_mpu9250
Definition:
imu_mpu9250_i2c.c:94
mpu9250_i2c.h
Driver for the MPU-9250 using I2C.
Mpu9250_I2c
Definition:
mpu9250_i2c.h:55
sw
airborne
subsystems
imu
imu_mpu9250_i2c.h
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