CHimu (UART)

Module XML file: ahrs_chimu_uart.xml

For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN

Example for airframe file

<modules>
  <load name="ahrs_chimu_uart.xml"/>
</modules>

Module functions

Event Functions

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

• parse_ins_msg()

Files

Header Files

The following headers are automatically included in modules.h

• ins_module.h

Source Files

• modules/ins/ahrs_chimu_uart.c
• modules/ins/imu_chimu.c
• subsystems/ahrs.c

Raw ahrs_chimu_uart.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ahrs_chimu_uart" dir="ins">
  <doc>
    <description>
      CHimu (UART)
      For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
    </description>
  </doc>
  <header>
    <file name="ins_module.h"/>
  </header>
  <!--<periodic fun="ins_periodic()" freq="60"/>-->
  <event fun="parse_ins_msg()"/>
  <makefile target="ap">
    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
    <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"/>
    <raw>
      ap.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ahrs_chimu.h\"
    </raw>
  </makefile>
</module>