void ins_init( void )
{
uint8_t ping[7] = {CHIMU_STX, CHIMU_STX, 0x01, CHIMU_BROADCAST, MSG00_PING, 0x00, 0xE6 };
uint8_t rate[12] = {CHIMU_STX, CHIMU_STX, 0x06, CHIMU_BROADCAST, MSG10_UARTSETTINGS, 0x05, 0xff, 0x79, 0x00, 0x00, 0x01, 0x76 }; // 50Hz attitude only + SPI
uint8_t quaternions[7] = {CHIMU_STX, CHIMU_STX, 0x01, CHIMU_BROADCAST, MSG09_ESTIMATOR, 0x01, 0x39 }; // 25Hz attitude only + SPI
// uint8_t rate[12] = {CHIMU_STX, CHIMU_STX, 0x06, CHIMU_BROADCAST, MSG10_UARTSETTINGS, 0x04, 0xff, 0x79, 0x00, 0x00, 0x01, 0xd3 }; // 25Hz attitude only + SPI
// uint8_t euler[7] = {CHIMU_STX, CHIMU_STX, 0x01, CHIMU_BROADCAST, MSG09_ESTIMATOR, 0x00, 0xaf }; // 25Hz attitude only + SPI
new_ins_attitude = 0;
ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
CHIMU_Init(&CHIMU_DATA);
// Request Software version
for (int i=0; i<7; i++) {
InsUartSend1(ping[i]);
}
// Quat Filter
for (int i=0; i<7; i++) {
InsUartSend1(quaternions[i]);
}
// 50Hz
CHIMU_Checksum(rate,12);
InsSend(rate,12);
}
void ins_init( void )
{
uint8_t rate[12] = {0xae, 0xae, 0x06, 0xaa, 0x10, 0x05, 0xff, 0x79, 0x00, 0x00, 0x01, 0x76 }; // 50Hz attitude only + SPI
// uint8_t rate[12] = {0xae, 0xae, 0x06, 0xaa, 0x10, 0x04, 0xff, 0x79, 0x00, 0x00, 0x01, 0xd3 }; // 25Hz attitude only + SPI
// uint8_t euler[7] = {0xae, 0xae, 0x01, 0xaa, 0x09, 0x00, 0xaf }; // 25Hz attitude only + SPI
uint8_t quaternions[7] = {0xae, 0xae, 0x01, 0xaa, 0x09, 0x01, 0x39 }; // 25Hz attitude only + SPI
CHIMU_Checksum(rate,12);
new_ins_attitude = 0;
ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
CHIMU_Init(&CHIMU_DATA);
// Quat Filter
for (int i=0;i<7;i++)
{
InsUartSend1(quaternions[i]);
}
// 50Hz
for (int i=0;i<12;i++)
{
InsUartSend1(rate[i]);
}
}