mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
c3ec53141e
- mostly based on Bebop2 - add PWM output and SBUS input on Linux (based on ArduPilot work) - some changes to the Linux serial port lib to handle arbitrary baudrate (this code could be improved and factorized in the future) - all sensors are working, the video system is not tested
40 lines
1.3 KiB
XML
40 lines
1.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="imu_disco" dir="imu">
|
|
<doc>
|
|
<description>
|
|
Driver for IMU on the Parrot Disco drone.
|
|
- Accelerometer/Gyroscope: MPU6000 via I2C2
|
|
- Magnetometer: AK8963 via I2C1
|
|
</description>
|
|
<section name="IMU" prefix="IMU_">
|
|
<define name="MAG_X_NEUTRAL" value="2358"/>
|
|
<define name="MAG_Y_NEUTRAL" value="2362"/>
|
|
<define name="MAG_Z_NEUTRAL" value="2119"/>
|
|
|
|
<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
|
|
<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
|
|
</section>
|
|
</doc>
|
|
<autoload name="imu_common"/>
|
|
<autoload name="imu_nps"/>
|
|
<!--autoload name="sonar_bebop"/-->
|
|
<header>
|
|
<file name="imu_disco.h" dir="subsystems/imu"/>
|
|
</header>
|
|
<init fun="imu_disco_init()"/>
|
|
<periodic fun="imu_disco_periodic()"/>
|
|
<event fun="imu_disco_event()"/>
|
|
<makefile target="!sim|nps|fbw">
|
|
<define name="USE_I2C1"/>
|
|
<define name="USE_I2C2"/>
|
|
<define name="IMU_TYPE_H" value="subsystems/imu/imu_disco.h" type="string"/>
|
|
<file name="mpu60x0.c" dir="peripherals"/>
|
|
<file name="mpu60x0_i2c.c" dir="peripherals"/>
|
|
<file name="ak8963.c" dir="peripherals"/>
|
|
<file name="imu_disco.c" dir="subsystems/imu"/>
|
|
</makefile>
|
|
</module>
|
|
|