Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
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XSens MTiG

Module XML file: ins_xsens_MTiG_Uart0.xml

No detailed description...

Example for airframe file

1 <modules>
2  <load name="ins_xsens_MTiG_Uart0.xml"/>
3 </modules>

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

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

  • ins_periodic()
    • Frequency in Hz: 60
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw ins_xsens_MTiG_Uart0.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins">
<description>XSens MTiG</description>
<!-- <conflicts>ins</conflicts> -->
<!-- <requires>gps_xsens</requires> -->
<file name="ins_module.h"/>
<init fun="ins_init()"/>
<periodic fun="ins_periodic()" freq="60"/>
<define name="USE_UART0" value="1"/>
<define name="INS_LINK" value="UART0"/>
<define name="UART0_BAUD" value="B115200"/>
<define name="USE_GPS_XSENS"/>
<!-- calibrated, orientation, position, velocity, status -->
<define name="XSENS_OUTPUT_MODE" value="0x0836"/>
<!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
<define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
<file name="ins_xsens.c"/>