-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathRTIMULib.ini
307 lines (265 loc) · 5.39 KB
/
RTIMULib.ini
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
# #####################################################################
#
# RTIMULib settings file
# General settings
#
# IMU type -
# 0 = Auto discover
# 1 = Null (used when data is provided from a remote IMU
# 2 = InvenSense MPU-9150
# 3 = STM L3GD20H + LSM303D
# 4 = STM L3GD20 + LSM303DLHC
# 5 = STM LSM9DS0
IMUType=4
#
# Fusion type type -
# 0 - Null. Use if only sensor data required without fusion
# 1 - Kalman STATE4
# 2 - RTQF
# 3 - Kalman STATE7
FusionType=0
#
# I2C Bus (between 0 and 7)
I2CBus=1
#
# I2C slave address (filled in automatically by auto discover)
I2CSlaveAddress=107
# #####################################################################
#
# Compass calibration
CompassCalValid=false
CompassCalMinX=0,000000
CompassCalMinY=0,000000
CompassCalMinZ=0,000000
CompassCalMaxX=0,000000
CompassCalMaxY=0,000000
CompassCalMaxZ=0,000000
# #####################################################################
#
# MPU-9150 settings
#
# Gyro sample rate (between 5Hz and 1000Hz)
MPU9150GyroAccelSampleRate=50
#
# Compass sample rate (between 1Hz and 100Hz)
MPU9150CompassSampleRate=25
#
# Gyro/accel low pass filter -
# 0 - gyro: 256Hz, accel: 260Hz
# 1 - gyro: 188Hz, accel: 184Hz
# 2 - gyro: 98Hz, accel: 98Hz
# 3 - gyro: 42Hz, accel: 44Hz
# 4 - gyro: 20Hz, accel: 21Hz
# 5 - gyro: 10Hz, accel: 10Hz
# 6 - gyro: 5Hz, accel: 5Hz
MPU9150GyroAccelLpf=4
#
# Gyro full scale range -
# 0 - +/- 250 degress per second
# 8 - +/- 500 degress per second
# 16 - +/- 1000 degress per second
# 24 - +/- 2000 degress per second
MPU9150GyroFSR=16
#
# Accel full scale range -
# 0 - +/- 2g
# 8 - +/- 4g
# 16 - +/- 8g
# 24 - +/- 16g
MPU9150AccelFSR=16
# #####################################################################
#
# L3GD20H + LSM303D settings
#
# Gyro sample rate -
# 0 = 12.5Hz
# 1 = 25Hz
# 2 = 50Hz
# 3 = 100Hz
# 4 = 200Hz
# 5 = 400Hz
# 6 = 800Hz
GD20HM303DGyroSampleRate=2
#
# Gyro full scale range -
# 0 = 245 degrees per second
# 1 = 500 degrees per second
# 2 = 2000 degrees per second
GD20HM303DGyroFsr=1
#
# Gyro high pass filter -
# 0 - 9 but see the L3GD20H manual for details
GD20HM303DGyroHpf=4
#
# Gyro bandwidth -
# 0 - 3 but see the L3GD20H manual for details
GD20HM303DGyroBW=1
# Accel sample rate -
# 1 = 3.125Hz
# 2 = 6.25Hz
# 3 = 12.5Hz
# 4 = 25Hz
# 5 = 50Hz
# 6 = 100Hz
# 7 = 200Hz
# 8 = 400Hz
# 9 = 800Hz
# 10 = 1600Hz
GD20HM303DAccelSampleRate=5
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 4g
# 2 = +/- 6g
# 3 = +/- 8g
# 4 = +/- 16g
GD20HM303DAccelFsr=3
#
# Accel low pass filter -
# 0 = 773Hz
# 1 = 194Hz
# 2 = 362Hz
# 3 = 50Hz
GD20HM303DAccelLpf=3
#
# Compass sample rate -
# 0 = 3.125Hz
# 1 = 6.25Hz
# 2 = 12.5Hz
# 3 = 25Hz
# 4 = 50Hz
# 5 = 100Hz
GD20HM303DCompassSampleRate=4
#
# Compass full scale range -
# 0 = +/- 200 uT
# 1 = +/- 400 uT
# 2 = +/- 800 uT
# 3 = +/- 1200 uT
GD20HM303DCompassFsr=0
# #####################################################################
#
# L3GD20 + LSM303DLHC settings
#
# Gyro sample rate -
# 0 = 95z
# 1 = 190Hz
# 2 = 380Hz
# 3 = 760Hz
GD20M303DLHCGyroSampleRate=0
#
# Gyro full scale range -
# 0 = 250 degrees per second
# 1 = 500 degrees per second
# 2 = 2000 degrees per second
GD20M303DLHCGyroFsr=1
#
# Gyro high pass filter -
# 0 - 9 but see the L3GD20 manual for details
GD20M303DLHCGyroHpf=4
#
# Gyro bandwidth -
# 0 - 3 but see the L3GD20 manual for details
GD20M303DLHCGyroBW=1
# Accel sample rate -
# 1 = 1Hz
# 2 = 10Hz
# 3 = 25Hz
# 4 = 50Hz
# 5 = 100Hz
# 6 = 200Hz
# 7 = 400Hz
GD20M303DLHCAccelSampleRate=4
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 4g
# 2 = +/- 8g
# 3 = +/- 16g
GD20M303DLHCAccelFsr=2
#
# Compass sample rate -
# 0 = 0.75Hz
# 1 = 1.5Hz
# 2 = 3Hz
# 3 = 7.5Hz
# 4 = 15Hz
# 5 = 30Hz
GD20M303DLHCCompassSampleRate=5
#
# Compass full scale range -
# 1 = +/- 130 uT
# 2 = +/- 190 uT
# 3 = +/- 250 uT
# 4 = +/- 400 uT
# 5 = +/- 470 uT
# 6 = +/- 560 uT
# 7 = +/- 810 uT
GD20M303DLHCCompassFsr=1
# #####################################################################
#
# LSM9DS0 settings
#
# Gyro sample rate -
# 0 = 95z
# 1 = 190Hz
# 2 = 380Hz
# 3 = 760Hz
LSM9DS0GyroSampleRate=0
#
# Gyro full scale range -
# 0 = 250 degrees per second
# 1 = 500 degrees per second
# 2 = 2000 degrees per second
LSM9DS0GyroFsr=1
#
# Gyro high pass filter -
# 0 - 9 but see the LSM9DS0 manual for details
LSM9DS0GyroHpf=4
#
# Gyro bandwidth -
# 0 - 3 but see the LSM9DS0 manual for details
LSM9DS0GyroBW=1
# Accel sample rate -
# 1 = 3.125Hz
# 2 = 6.25Hz
# 3 = 12.5Hz
# 4 = 25Hz
# 5 = 50Hz
# 6 = 100Hz
# 7 = 200Hz
# 8 = 400Hz
# 9 = 800Hz
# 10 = 1600Hz
LSM9DS0AccelSampleRate=5
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 4g
# 2 = +/- 6g
# 3 = +/- 8g
# 4 = +/- 16g
LSM9DS0AccelFsr=3
#
# Accel low pass filter -
# 0 = 773Hz
# 1 = 194Hz
# 2 = 362Hz
# 3 = 50Hz
LSM9DS0AccelLpf=3
#
# Compass sample rate -
# 0 = 3.125Hz
# 1 = 6.25Hz
# 2 = 12.5Hz
# 3 = 25Hz
# 4 = 50Hz
# 5 = 100Hz
LSM9DS0CompassSampleRate=4
#
# Compass full scale range -
# 0 = +/- 200 uT
# 1 = +/- 400 uT
# 2 = +/- 800 uT
# 3 = +/- 1200 uT
LSM9DS0CompassFsr=0