Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
CHimu (UART)

Module XML file: ahrs_chimu_uart.xml

For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN

Example for airframe file

1 <modules>
2  <load name="ahrs_chimu_uart.xml"/>
3 </modules>

Module functions

Event Functions

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


Header Files

The following headers are automatically included in modules.h

Source Files

Raw ahrs_chimu_uart.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_chimu_uart" dir="ins">
CHimu (UART)
For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
<file name="ins_module.h"/>
<!--<periodic fun="ins_periodic()" freq="60"/>-->
<event fun="parse_ins_msg()"/>
<makefile target="ap">
<define name="USE_AHRS"/>
<define name="USE_INS_MODULE"/>
<define name="USE_UART$(CHIMU_UART_NR)" value="1"/>
<define name="INS_LINK" value="uart$(CHIMU_UART_NR)"/>
<define name="UART$(CHIMU_UART_NR)_BAUD" value="B115200"/>
<file name="ahrs_chimu_uart.c"/>
<file name="imu_chimu.c"/>
<file name="ahrs.c" dir="subsystems"/>
ap.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ahrs_chimu.h\"