sensor::imu::msp Namespace Reference

Multiwii Serial Protocal Interface. More...

Classes
struct	MspIdent
	Board identity structure. More...

Variables
static const char *const	MspPreamble = "$M"
	message preamble
static const char *const	MspDirTo = "<"
	to imu
static const char *const	MspDirFrom = ">"
	from imu
static const char *const	MspCmdPreamble = "$M<"
	command preamble
static const char *const	MspRspPreamble = "$M>"
	response preamble
static const int	MspFieldPosDir = 3
	dir field position
static const int	MspFieldPosSize = 3
	data size field position
static const int	MspFieldPosCmdId = 4
	command id field position
static const int	MspFieldPosDataStart = 5
	data start field position
static const int	MspCmdHdrLen = 5
	command header len
static const int	MspCmdMinLen = 6
	MspCmdHdrLen+1 command min len.
static const int	MspCmdMaxLen = 32
	response max len
static const int	MspRspHdrLen = 5
	response header len
static const int	MspRspMinLen = 6
	MspRspHdrLen+1 response min len.
static const int	MspRspMaxLen = 32
	response max len
static const uint_t	MspCmdIdIdent = 100
	read board/sensor idents
static const uint_t	MspCmdIdRawImu = 102
	read raw imu data
static const uint_t	MspCmdIdAttitude = 108
	read raw attitude data
static const double	MspGToMPerSec2 = 9.80665
	standard g in m/s^2
static const double	MspMpu6050RawToG = 1.0 / 512.0
	MPU-6050 acceleration raw value to g's.
static const double	MspMpu6050RawToDegPerSec = 1.0 / 4.096
	MPU-6050 rotation raw value to degrees/second.
static const double	MspAttitudeRawToDeg = 0.1
	board computed attitude raw value to degreess

Detailed Description

Multiwii Serial Protocal Interface.

Several IMU boards use the MSP interface.

Command: <preamble>MspDirTo<size><cmdid>[<data>]<crc>

Response: <preamble>MspDirFrom<size><cmdid>[<data>]<crc>