Explorer/PPRZ/Configuration

xp_option_board_apogee_mpu9150.xml

<firmware>
   <module name="imu" type="apogee_mpu9150">
     <define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
     <define name="APOGEE_SMPLRT_DIV"     value="1"/>
   </module>
</firmware>

xp_option_imu_apogee_mpu9150.xml

<airframe>
 <section name="IMU" prefix="IMU_">
   <define name="GYRO_P_SIGN"       value="1"/>
   <define name="GYRO_Q_SIGN"       value="-1"/>
   <define name="GYRO_R_SIGN"       value="-1"/>
   <define name="ACCEL_X_SIGN"      value="1"/>
   <define name="ACCEL_Y_SIGN"      value="-1"/>
   <define name="ACCEL_Z_SIGN"      value="-1"/>
   <define name="ACCEL_X_NEUTRAL"   value="-87"/>
   <define name="ACCEL_Y_NEUTRAL"   value="50"/>
   <define name="ACCEL_Z_NEUTRAL"   value="-16"/>
   <define name="ACCEL_X_SENS"      value="2.26755822693" integer="16"/>
   <define name="ACCEL_Y_SENS"      value="2.4468957791" integer="16"/>
   <define name="ACCEL_Z_SENS"      value="2.45151941617" integer="16"/>
   <define name="MAG_X_SIGN"        value="1"/>
   <define name="MAG_Y_SIGN"        value="-1"/>
   <define name="MAG_Z_SIGN"        value="-1"/>
   <define name="MAG_X_NEUTRAL"     value="6"/>
   <define name="MAG_Y_NEUTRAL"     value="-8"/>
   <define name="MAG_Z_NEUTRAL"     value="45"/>
   <define name="MAG_X_SENS"        value="15.406512237311269" integer="16"/>
   <define name="MAG_Y_SENS"        value="14.315784652910315" integer="16"/>
   <define name="MAG_Z_SENS"        value="16.04339395369838" integer="16"/>
   <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
   <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
   <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 </section>
</airframe>