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>