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VOXL 2 Onboard Sensors

Table of contents

  1. IMU0 (U16)
    1. Hardware
    2. Software
      1. Checking slpi_proc IMU Status
      2. PX4 Driver
      3. Setting IMU orientation
  2. IMU1 (U17)
    1. Hardware
    2. Software
      1. Checking apps_proc IMU Status
      2. Driver
  3. BARO (U19)
    1. Hardware
    2. Software
      1. Checking Baro Status
      2. PX4 Driver

IMU0 (U16)

Hardware

  • ICM-42688p
  • DSP - SSC QUP5

Software

Checking slpi_proc IMU Status

The px4-listener sensor_accel and px4-listener sensor_gyro commands will provide status of this IMU.

For example:

px4-listener sensor_accel

TOPIC: sensor_accel
 sensor_accel_s
	timestamp: 50136333  (0.002592 seconds ago)
	timestamp_sample: 50136045  (288 us before timestamp)
	device_id: 2490378 (Type: 0x26, SPI:1 (0x00))
	x: -0.3328
	y: 0.2801
	z: 9.7995
	temperature: 32.9937
	error_count: 0
	clip_counter: [0, 0, 0]

px4-listener sensor_gyro

TOPIC: sensor_gyro
 sensor_gyro_s
	timestamp: 55642109  (0.001741 seconds ago)
	timestamp_sample: 55641871  (238 us before timestamp)
	device_id: 2490378 (Type: 0x26, SPI:1 (0x00))
	x: 0.0205
	y: -0.0528
	z: -0.0229
	temperature: 33.2654
	error_count: 0

PX4 Driver

Please see driver at icm42688p

Setting IMU orientation

This is currently set in a startup script here

IMU1 (U17)

Hardware

  • ICM-42688p
  • apps_proc - /dev/spidev3.0

Software

Checking apps_proc IMU Status

This IMU doesn’t interface with PX4 but instead intended for the apps_proc. To view status:

  • Run voxl-configure-imu with the factory settings options
  • Run voxl-inspect-imu imu_apps
voxl-inspect-imu imu_apps

Acc in m/s^2, gyro in rad/s, temp in C
gravity | accel_x accel_y accel_z | gyro_x  gyro_y  gyro_z |  Temp |
   9.38 |  0.93    0.16    -9.34  |  0.003  -0.012  -0.017 | 28.84 |

Driver

Please see qrb516-imu-server

Please see voxl-inspect-imu as well.

BARO (U19)

Hardware

  • ICP-10100
  • DSP - SSC QUP4
  • Address: 0x63h

Software

Checking Baro Status

This barometer interfaces with PX4 and the px4-listener sensor_baro command can be used to view its status:

px4-listener sensor_baro

TOPIC: sensor_baro
 sensor_baro_s
	timestamp: 166216724  (0.008201 seconds ago)
	timestamp_sample: 166216722  (2 us before timestamp)
	device_id: 10249001 (Type: 0x9C, I2C:5 (0x63))
	error_count: 0
	pressure: 1019.6817
	temperature: 30.3849

PX4 Driver

Please see icp10100 driver.