mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-27 08:55:51 +08:00
kevindehecker
7859e0a66f
* Lsm303d spi driver * Use lsm303d for pixhawk instead of depricated lsm303dlhc * Fixed the actual acc problem * Removed lsm303dlhc_spi device, which does not even exist * Updated acc calibration after solving scaling bug * INDI adaptive tuned Iris * Conf stuff * Remove seperate pid airframe, as indi works pretty good and I'm not maintaining it anyway * Fixed units in airframe file * Enlarged range of slider for indi max rates
47 lines
2.0 KiB
XML
47 lines
2.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_px4fmu_v2.4" dir="imu">
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<doc>
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<description>
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PX4 Pixhawk IMU via SPI.
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Consists of two (internal) IMU's and one internal magneto. Also an optional external magneto.
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L3GD20 + LSM303D
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</description>
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<configure name="IMU_PX4FMU_SPI_DEV" value="spi1" description="SPI device to use"/>
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<configure name="IMU_L3G_SPI_SLAVE_IDX" value="SPI_SLAVE0" description="slave select pin for the L3GD20"/>
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<configure name="IMU_LSM_SPI_SLAVE_IDX" value="SPI_SLAVE1" description="slave select pin for the LSM303D"/>
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<define name="IMU_PX4_DISABLE_MAG" value="FALSE" description="define to TRUE to disable the mag on the Pixhawk"/>
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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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<header>
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<file name="imu_px4fmu_v2.4.h" dir="subsystems/imu"/>
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</header>
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<init fun="imu_px4_init()"/>
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<periodic fun="imu_px4_periodic()"/>
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<event fun="imu_px4_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="IMU_PX4FMU_SPI_DEV" default="spi1" case="lower|upper"/>
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<define name="IMU_PX4FMU_SPI_DEV" value="$(IMU_PX4FMU_SPI_DEV_LOWER)"/>
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<define name="USE_$(IMU_PX4FMU_SPI_DEV_UPPER)"/>
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<!-- L3GD20 -->
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<configure name="IMU_L3G_SPI_SLAVE_IDX" default="SPI_SLAVE0"/>
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<define name="USE_$(IMU_L3G_SPI_SLAVE_IDX)"/>
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<define name="IMU_L3G_SPI_SLAVE_IDX" value="$(IMU_L3G_SPI_SLAVE_IDX)"/>
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<!-- LSM303d -->
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<configure name="IMU_LSM_SPI_SLAVE_IDX" default="SPI_SLAVE1"/>
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<define name="USE_$(IMU_LSM_SPI_SLAVE_IDX)"/>
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<define name="IMU_LSM_SPI_SLAVE_IDX" value="$(IMU_LSM_SPI_SLAVE_IDX)"/>
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<define name="IMU_TYPE_H" value="imu/imu_px4fmu_v2.4.h" type="string"/>
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<file name="l3gd20_spi.c" dir="peripherals"/>
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<file name="lsm303d_spi.c" dir="peripherals"/>
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<file name="hmc58xx.c" dir="peripherals"/>
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<file name="imu_px4fmu_v2.4.c" dir="subsystems/imu"/>
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<raw>
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include $(CFG_SHARED)/spi_master.makefile
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</raw>
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</makefile>
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</module>
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