Give comparable with IMU Health information

Module XML file: imu_quality_assessment.xml

• saturation information
  • vibration level
  • magnetic field hard iron offset

Example for airframe file

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

Module functions

Init Functions

These initialization functions are called once on startup.

• imu_quality_assessment_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• imu_quality_assessment_periodic()
  • Running at maximum module frequency.
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• imu_quality_assessment.h

Source Files

• modules/benchmark/imu_quality_assessment.c

Raw imu_quality_assessment.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="benchmark">
  <doc>
    <description>
      Give comparable with IMU Health information.
      - saturation information
      - vibration level
      - magnetic field hard iron offset
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="imu_quality">
        <dl_setting var="imu_quality_assessment_data.q_ax" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="ax"  handler="Reset"/>
        <dl_setting var="imu_quality_assessment_data.q_ay" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="ay"  handler="Reset"/>
        <dl_setting var="imu_quality_assessment_data.q_az" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="az"  handler="Reset"/>
        <dl_setting var="imu_quality_assessment_data.q" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="q"  handler="Reset"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="imu_quality_assessment.h"/>
  </header>
  <init fun="imu_quality_assessment_init()"/>
  <periodic fun="imu_quality_assessment_periodic()" autorun="TRUE"/>
  <makefile>
    <file name="imu_quality_assessment.c"/>
  </makefile>
</module>