imu_default_config.h

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/*******************************************************************************
 * \file imu_default_config.h
 * 
 * \author MAV'RIC Team
 * \author Gregoire Heitz
 *   
 * \brief Default configuration for the imu
 * This can be used to init the imu, if you need to change some values:
 * copy paste the file content on a new src/file and pass it as 2nd parameter of the imu_init function
 *
 ******************************************************************************/


#ifndef IMU_DEFAULT_CONFIG_H_
#define IMU_DEFAULT_CONFIG_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "imu.h"

static imu_conf_t imu_default_config =
{
    .accelerometer =
    {
        .axis =
        {
            0,                  //ACC_AXIS_X
            1,                  //ACC_AXIS_Y
            2                   //ACC_AXIS_Z
        },
        .orientation =
        {
            1.0f,               //ACC_ORIENTATION_X
            -1.0f,              //ACC_ORIENTATION_Y
            -1.0f               //ACC_ORIENTATION_Z
        },
        .bias = 
        {
            0.0f,               //ACC_BIAIS_X
            64.0f,              //ACC_BIAIS_Y
            90.0f               //ACC_BIAIS_Z
        },
        .scale_factor =
        {
            3924.0f,            //RAW_ACC_X_SCALE
            3844.8f,            //RAW_ACC_Y_SCALE
            4119.6f             //RAW_ACC_Z_SCALE
        }
    },
    .gyroscope =
    {
        .axis =
        {
            0,                  //GYRO_AXIS_X
            1,                  //GYRO_AXIS_Y
            2                   //GYRO_AXIS_Z
        },
        .orientation =
        {
            1.0f,               //GYRO_ORIENTATION_X
            -1.0f,              //GYRO_ORIENTATION_Y
            -1.0f               //GYRO_ORIENTATION_Z
        },
        .bias =
        {
            0.0f,               //GYRO_BIAIS_X
            0.0f,               //GYRO_BIAIS_Y
            0.0f                //GYRO_BIAIS_Z
        },
        .scale_factor =
        {
            818.5111f,          //RAW_GYRO_X_SCALE
            818.5111f,          //RAW_GYRO_Y_SCALE
            818.5111f           //RAW_GYRO_Z_SCALE
        }
    },
    .magnetometer =
    {
        .axis =
        {
            2,                  //MAG_AXIS_X
            0,                  //MAG_AXIS_Y
            1                   //MAG_AXIS_Z
        },
        .orientation =
        {
            -1.0f,              //MAG_ORIENTATION_X
            -1.0f,              //MAG_ORIENTATION_Y
            -1.0f               //MAG_ORIENTATION_Z
        },
        .bias =
        {
            42.38f,             //MAG_BIAIS_X
            -107.51f,           //MAG_BIAIS_Y
            2.47f               //MAG_BIAIS_Z
        },
        .scale_factor =
        {
            614.51f,            //RAW_MAG_X_SCALE
            584.28f,            //RAW_MAG_Y_SCALE
            531.95f             //RAW_MAG_Z_SCALE
        }
    }
};

#ifdef __cplusplus
}
#endif

#endif // IMU_DEFAULT_CONFIG_H_