mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
17d32772c0
* [imu] convert imu subsystems to modules Also - get rid of explicit imu init|event|periodic calls in main - each imu implementation has their own imu_x_init/event/periodic * [imu] fix some imu modules * [imu] fix bad paths * [imu] add imu_common module that every implementation autoloads and put body_to_imu settings in imu_common module * [imu] fix imu_ardrone2 * [conf] add imu_common settings module in conf_example and conf_tests
28 lines
959 B
XML
28 lines
959 B
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="imu_aspirin_i2c_common" dir="sensors">
|
|
<doc>
|
|
<description>
|
|
Aspirin v1.0 IMU using I2C only.
|
|
- Accelerometer: ADXL345 via I2C
|
|
- Gyroscope: ITG3200 via I2C
|
|
- Magnetometer: HMC58xx via I2C
|
|
</description>
|
|
<configure name="ASPIRIN_I2C_DEV" value="i2c2" description="I2C device to use"/>
|
|
<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_aspirin_i2c_common"/>
|
|
<autoload name="imu_nps"/>
|
|
<makefile target="!sim|nps|fbw">
|
|
<define name="IMU_ASPIRIN_VERSION_1_0"/>
|
|
</makefile>
|
|
</module>
|