mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Kirk Scheper
43 lines
1.4 KiB
XML
43 lines
1.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_bebop" dir="imu">
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<doc>
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<description>
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Driver for IMU on the Parrot Bebop drone.
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- Accelerometer/Gyroscope: MPU6000 via I2C2
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- Magnetometer: AK8963 via I2C1
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</description>
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<section name="IMU" prefix="IMU_">
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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</section>
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</doc>
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<autoload name="imu_common"/>
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<autoload name="imu_nps"/>
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<autoload name="sonar_bebop"/>
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<header>
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<file name="imu_bebop.h" dir="subsystems/imu"/>
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</header>
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<init fun="imu_bebop_init()"/>
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<periodic fun="imu_bebop_periodic()"/>
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<event fun="imu_bebop_event()"/>
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<makefile target="!sim|nps|fbw">
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<define name="BEBOP_MAG_I2C_DEV" value="i2c1"/>
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<define name="USE_I2C1"/>
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<define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
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<define name="USE_I2C2"/>
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<define name="IMU_TYPE_H" value="subsystems/imu/imu_bebop.h" type="string"/>
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<file name="mpu60x0.c" dir="peripherals"/>
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<file name="mpu60x0_i2c.c" dir="peripherals"/>
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<file name="ak8963.c" dir="peripherals"/>
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<file name="imu_bebop.c" dir="subsystems/imu"/>
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</makefile>
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</module>
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