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RTIMULib.ini
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RTIMULib.ini
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# #####################################################################
#
# RTIMULib settings file
# General settings
#
# IMU type -
# 0 = Auto discover
# 1 = Null (used when data is provided from a remote IMU
# 2 = InvenSense MPU-9150
# 3 = STM L3GD20H + LSM303D
# 4 = STM L3GD20 + LSM303DLHC
# 5 = STM LSM9DS0
# 6 = STM LSM9DS1
# 7 = InvenSense MPU-9250
# 8 = STM L3GD20H + LSM303DLHC
# 9 = Bosch BMX055
# 10 = Bosch BNX055
IMUType=6
#
# Fusion type type -
# 0 - Null. Use if only sensor data required without fusion
# 1 - Kalman STATE4
# 2 - RTQF
FusionType=2
#
# Is bus I2C: 'true' for I2C, 'false' for SPI
BusIsI2C=true
#
# I2C Bus (between 0 and 7)
I2CBus=1
#
# SPI Bus (between 0 and 7)
SPIBus=0
#
# SPI select (between 0 and 1)
SPISelect=0
#
# SPI Speed in Hz
SPISpeed=500000
#
# I2C slave address (filled in automatically by auto discover)
I2CSlaveAddress=107
#
# IMU axis rotation - see RTIMU.h for details
AxisRotation=0
# Pressure sensor type -
# 0 = Auto discover
# 1 = Null (no hardware or don't use)
# 2 = BMP180
# 3 = LPS25H
# 4 = MS5611
# 5 = MS5637
PressureType=0
#
# I2C pressure sensor address (filled in automatically by auto discover)
I2CPressureAddress=0
# Humidity sensor type -
# 0 = Auto discover
# 1 = Null (no hardware or don't use)
# 2 = HTS221
# 3 = HTU21D
HumidityType=0
#
# I2C humidity sensor address (filled in automatically by auto discover)
I2CHumidityAddress=0
# #####################################################################
#
# Compass calibration settings
CompassCalValid=true
CompassCalMinX=-59.988636
CompassCalMinY=-23.912876
CompassCalMinZ=-61.714367
CompassCalMaxX=47.611153
CompassCalMaxY=86.796547
CompassCalMaxZ=42.061466
# #####################################################################
#
# Compass adjustment settings
# Compass declination is in radians and is subtracted from calculated heading
compassAdjDeclination=0.000000
# #####################################################################
#
# Compass ellipsoid calibration
compassCalEllipsoidValid=true
compassCalOffsetX=-0.523097
compassCalOffsetY=2.773693
compassCalOffsetZ=-1.804364
compassCalCorr11=0.980180
compassCalCorr12=0.010728
compassCalCorr13=0.001986
compassCalCorr21=0.010728
compassCalCorr22=0.992445
compassCalCorr23=-0.007001
compassCalCorr31=0.001986
compassCalCorr32=-0.007001
compassCalCorr33=0.979710
# #####################################################################
#
# Accel calibration
AccelCalValid=true
AccelCalMinX=-0.992136
AccelCalMinY=-1.006543
AccelCalMinZ=-1.011658
AccelCalMaxX=1.011742
AccelCalMaxY=0.999970
AccelCalMaxZ=0.990727
# #####################################################################
#
# Saved gyro bias data
GyroBiasValid=true
GyroBiasX=0.006298
GyroBiasY=0.044090
GyroBiasZ=-0.000801
# #####################################################################
#
# MPU-9150 settings
#
# Gyro sample rate (between 5Hz and 1000Hz)
MPU9150GyroAccelSampleRate=50
#
# Compass sample rate (between 1Hz and 100Hz)
MPU9150CompassSampleRate=25
#
# Gyro/accel low pass filter -
# 0 - gyro: 256Hz, accel: 260Hz
# 1 - gyro: 188Hz, accel: 184Hz
# 2 - gyro: 98Hz, accel: 98Hz
# 3 - gyro: 42Hz, accel: 44Hz
# 4 - gyro: 20Hz, accel: 21Hz
# 5 - gyro: 10Hz, accel: 10Hz
# 6 - gyro: 5Hz, accel: 5Hz
MPU9150GyroAccelLpf=4
#
# Gyro full scale range -
# 0 - +/- 250 degress per second
# 8 - +/- 500 degress per second
# 16 - +/- 1000 degress per second
# 24 - +/- 2000 degress per second
MPU9150GyroFSR=16
#
# Accel full scale range -
# 0 - +/- 2g
# 8 - +/- 4g
# 16 - +/- 8g
# 24 - +/- 16g
MPU9150AccelFSR=16
# #####################################################################
#
# MPU-9250 settings
#
# Gyro sample rate (between 5Hz and 1000Hz plus 8000Hz and 32000Hz)
MPU9250GyroAccelSampleRate=80
#
# Compass sample rate (between 1Hz and 100Hz)
MPU9250CompassSampleRate=40
#
# Gyro low pass filter -
# 0x11 - 8800Hz, 0.64mS delay
# 0x10 - 3600Hz, 0.11mS delay
# 0x00 - 250Hz, 0.97mS delay
# 0x01 - 184Hz, 2.9mS delay
# 0x02 - 92Hz, 3.9mS delay
# 0x03 - 41Hz, 5.9mS delay
# 0x04 - 20Hz, 9.9mS delay
# 0x05 - 10Hz, 17.85mS delay
# 0x06 - 5Hz, 33.48mS delay
MPU9250GyroLpf=3
#
# Accel low pass filter -
# 0x08 - 1130Hz, 0.75mS delay
# 0x00 - 460Hz, 1.94mS delay
# 0x01 - 184Hz, 5.80mS delay
# 0x02 - 92Hz, 7.80mS delay
# 0x03 - 41Hz, 11.80mS delay
# 0x04 - 20Hz, 19.80mS delay
# 0x05 - 10Hz, 35.70mS delay
# 0x06 - 5Hz, 66.96mS delay
MPU9250AccelLpf=3
#
# Gyro full scale range -
# 0 - +/- 250 degress per second
# 8 - +/- 500 degress per second
# 16 - +/- 1000 degress per second
# 24 - +/- 2000 degress per second
MPU9250GyroFSR=16
#
# Accel full scale range -
# 0 - +/- 2g
# 8 - +/- 4g
# 16 - +/- 8g
# 24 - +/- 16g
MPU9250AccelFSR=16
# #####################################################################
#
# L3GD20H + LSM303D settings
#
# Gyro sample rate -
# 0 = 12.5Hz
# 1 = 25Hz
# 2 = 50Hz
# 3 = 100Hz
# 4 = 200Hz
# 5 = 400Hz
# 6 = 800Hz
GD20HM303DGyroSampleRate=2
#
# Gyro full scale range -
# 0 = 245 degrees per second
# 1 = 500 degrees per second
# 2 = 2000 degrees per second
GD20HM303DGyroFsr=1
#
# Gyro high pass filter -
# 0 - 9 but see the L3GD20H manual for details
GD20HM303DGyroHpf=4
#
# Gyro bandwidth -
# 0 - 3 but see the L3GD20H manual for details
GD20HM303DGyroBW=1
# Accel sample rate -
# 1 = 3.125Hz
# 2 = 6.25Hz
# 3 = 12.5Hz
# 4 = 25Hz
# 5 = 50Hz
# 6 = 100Hz
# 7 = 200Hz
# 8 = 400Hz
# 9 = 800Hz
# 10 = 1600Hz
GD20HM303DAccelSampleRate=5
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 4g
# 2 = +/- 6g
# 3 = +/- 8g
# 4 = +/- 16g
GD20HM303DAccelFsr=3
#
# Accel low pass filter -
# 0 = 773Hz
# 1 = 194Hz
# 2 = 362Hz
# 3 = 50Hz
GD20HM303DAccelLpf=3
#
# Compass sample rate -
# 0 = 3.125Hz
# 1 = 6.25Hz
# 2 = 12.5Hz
# 3 = 25Hz
# 4 = 50Hz
# 5 = 100Hz
GD20HM303DCompassSampleRate=4
#
# Compass full scale range -
# 0 = +/- 200 uT
# 1 = +/- 400 uT
# 2 = +/- 800 uT
# 3 = +/- 1200 uT
GD20HM303DCompassFsr=0
# #####################################################################
#
# L3GD20 + LSM303DLHC settings
#
# Gyro sample rate -
# 0 = 95z
# 1 = 190Hz
# 2 = 380Hz
# 3 = 760Hz
GD20M303DLHCGyroSampleRate=0
#
# Gyro full scale range -
# 0 = 250 degrees per second
# 1 = 500 degrees per second
# 2 = 2000 degrees per second
GD20M303DLHCGyroFsr=1
#
# Gyro high pass filter -
# 0 - 9 but see the L3GD20 manual for details
GD20M303DLHCGyroHpf=4
#
# Gyro bandwidth -
# 0 - 3 but see the L3GD20 manual for details
GD20M303DLHCGyroBW=1
# Accel sample rate -
# 1 = 1Hz
# 2 = 10Hz
# 3 = 25Hz
# 4 = 50Hz
# 5 = 100Hz
# 6 = 200Hz
# 7 = 400Hz
GD20M303DLHCAccelSampleRate=4
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 4g
# 2 = +/- 8g
# 3 = +/- 16g
GD20M303DLHCAccelFsr=2
#
# Compass sample rate -
# 0 = 0.75Hz
# 1 = 1.5Hz
# 2 = 3Hz
# 3 = 7.5Hz
# 4 = 15Hz
# 5 = 30Hz
# 6 = 75Hz
# 7 = 220Hz
GD20M303DLHCCompassSampleRate=5
#
# Compass full scale range -
# 1 = +/- 130 uT
# 2 = +/- 190 uT
# 3 = +/- 250 uT
# 4 = +/- 400 uT
# 5 = +/- 470 uT
# 6 = +/- 560 uT
# 7 = +/- 810 uT
GD20M303DLHCCompassFsr=1
# #####################################################################
#
# L3GD20H + LSM303DLHC settings
#
#
# Gyro sample rate -
# 0 = 12.5Hz
# 1 = 25Hz
# 2 = 50Hz
# 3 = 100Hz
# 4 = 200Hz
# 5 = 400Hz
# 6 = 800Hz
GD20HM303DLHCGyroSampleRate=2
#
# Gyro full scale range -
# 0 = 245 degrees per second
# 1 = 500 degrees per second
# 2 = 2000 degrees per second
GD20HM303DLHCGyroFsr=1
#
# Gyro high pass filter -
# 0 - 9 but see the L3GD20H manual for details
GD20HM303DLHCGyroHpf=4
#
# Gyro bandwidth -
# 0 - 3 but see the L3GD20H manual for details
GD20HM303DLHCGyroBW=1
# Accel sample rate -
# 1 = 1Hz
# 2 = 10Hz
# 3 = 25Hz
# 4 = 50Hz
# 5 = 100Hz
# 6 = 200Hz
# 7 = 400Hz
GD20HM303DLHCAccelSampleRate=4
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 4g
# 2 = +/- 8g
# 3 = +/- 16g
GD20HM303DLHCAccelFsr=2
#
# Compass sample rate -
# 0 = 0.75Hz
# 1 = 1.5Hz
# 2 = 3Hz
# 3 = 7.5Hz
# 4 = 15Hz
# 5 = 30Hz
# 6 = 75Hz
# 7 = 220Hz
GD20HM303DLHCCompassSampleRate=5
#
# Compass full scale range -
# 1 = +/- 130 uT
# 2 = +/- 190 uT
# 3 = +/- 250 uT
# 4 = +/- 400 uT
# 5 = +/- 470 uT
# 6 = +/- 560 uT
# 7 = +/- 810 uT
GD20HM303DLHCCompassFsr=1
# #####################################################################
#
# LSM9DS0 settings
#
# Gyro sample rate -
# 0 = 95z
# 1 = 190Hz
# 2 = 380Hz
# 3 = 760Hz
LSM9DS0GyroSampleRate=0
#
# Gyro full scale range -
# 0 = 250 degrees per second
# 1 = 500 degrees per second
# 2 = 2000 degrees per second
LSM9DS0GyroFsr=1
#
# Gyro high pass filter -
# 0 - 9 but see the LSM9DS0 manual for details
LSM9DS0GyroHpf=4
#
# Gyro bandwidth -
# 0 - 3 but see the LSM9DS0 manual for details
LSM9DS0GyroBW=1
# Accel sample rate -
# 1 = 3.125Hz
# 2 = 6.25Hz
# 3 = 12.5Hz
# 4 = 25Hz
# 5 = 50Hz
# 6 = 100Hz
# 7 = 200Hz
# 8 = 400Hz
# 9 = 800Hz
# 10 = 1600Hz
LSM9DS0AccelSampleRate=5
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 4g
# 2 = +/- 6g
# 3 = +/- 8g
# 4 = +/- 16g
LSM9DS0AccelFsr=3
#
# Accel low pass filter -
# 0 = 773Hz
# 1 = 194Hz
# 2 = 362Hz
# 3 = 50Hz
LSM9DS0AccelLpf=3
#
# Compass sample rate -
# 0 = 3.125Hz
# 1 = 6.25Hz
# 2 = 12.5Hz
# 3 = 25Hz
# 4 = 50Hz
# 5 = 100Hz
LSM9DS0CompassSampleRate=4
#
# Compass full scale range -
# 0 = +/- 200 uT
# 1 = +/- 400 uT
# 2 = +/- 800 uT
# 3 = +/- 1200 uT
LSM9DS0CompassFsr=0
# #####################################################################
#
# LSM9DS1 settings
#
# Gyro sample rate -
# 0 = 95Hz
# 1 = 190Hz
# 2 = 380Hz
# 3 = 760Hz
LSM9DS1GyroSampleRate=2
#
# Gyro full scale range -
# 0 = 250 degrees per second
# 1 = 500 degrees per second
# 2 = 2000 degrees per second
LSM9DS1GyroFsr=1
#
# Gyro high pass filter -
# 0 - 9 but see the LSM9DS1 manual for details
LSM9DS1GyroHpf=4
#
# Gyro bandwidth -
# 0 - 3 but see the LSM9DS1 manual for details
LSM9DS1GyroBW=1
# Accel sample rate -
# 1 = 14.9Hz
# 2 = 59.5Hz
# 3 = 119Hz
# 4 = 238Hz
# 5 = 476Hz
# 6 = 952Hz
LSM9DS1AccelSampleRate=3
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 16g
# 2 = +/- 4g
# 3 = +/- 8g
LSM9DS1AccelFsr=3
#
# Accel low pass filter -
# 0 = 408Hz
# 1 = 211Hz
# 2 = 105Hz
# 3 = 50Hz
LSM9DS1AccelLpf=3
#
# Compass sample rate -
# 0 = 0.625Hz
# 1 = 1.25Hz
# 2 = 2.5Hz
# 3 = 5Hz
# 4 = 10Hz
# 5 = 20Hz
# 6 = 40Hz
# 7 = 80Hz
LSM9DS1CompassSampleRate=5
#
# Compass full scale range -
# 0 = +/- 400 uT
# 1 = +/- 800 uT
# 2 = +/- 1200 uT
# 3 = +/- 1600 uT
LSM9DS1CompassFsr=0
# #####################################################################
#
# BMX055 settings
#
#
# Gyro sample rate -
# 0 = 2000Hz (532Hz filter)
# 1 = 2000Hz (230Hz filter)
# 2 = 1000Hz (116Hz filter)
# 3 = 400Hz (47Hz filter)
# 4 = 200Hz (23Hz filter)
# 5 = 100Hz (12Hz filter)
# 6 = 200Hz (64Hz filter)
# 7 = 100Hz (32Hz filter)
BMX055GyroSampleRate=7
#
# Gyro full scale range -
# 0 = 2000 deg/s
# 1 = 1000 deg/s
# 2 = 500 deg/s
# 3 = 250 deg/s
# 4 = 125 deg/s
BMX055GyroFsr=2
#
# Accel sample rate -
# 0 = 15.63Hz
# 1 = 31.25
# 2 = 62.5
# 3 = 125
# 4 = 250
# 5 = 500
# 6 = 1000
# 7 = 2000
BMX055AccelSampleRate=3
#
# Accel full scale range -
# 0 = +/- 2g
# 1 = +/- 4g
# 2 = +/- 8g
# 3 = +/- 16g
BMX055AccelFsr=2
#
# Mag presets -
# 0 = Low power
# 1 = Regular
# 2 = Enhanced
# 3 = High accuracy
BMX055MagPreset=1