RTIMULib.ini

# #####################################################################
# 
# 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=7

# 
# 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=false

# 
# I2C Bus (between 0 and 7) 
I2CBus=1

# 
# SPI Bus (between 0 and 7) 
SPIBus=5

# 
# SPI select (between 0 and 1) 
SPISelect=1

# 
# SPI Speed in Hz
SPISpeed=500000

# 
# I2C slave address (filled in automatically by auto discover) 
I2CSlaveAddress=0

# 
# IMU axis rotation - see RTIMU.h for details
# 0 = NED; 5 = ENU
AxisRotation=5

# 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=-41.717903
CompassCalMinY=-65.764015
CompassCalMinZ=-71.555458
CompassCalMaxX=67.473091
CompassCalMaxY=29.406015
CompassCalMaxZ=31.677038

# #####################################################################
# 

# Compass adjustment settings
# Compass declination is in radians and is subtracted from calculated heading
compassAdjDeclination=0.000000

# #####################################################################
# 

# Compass ellipsoid calibration
compassCalEllipsoidValid=false
compassCalOffsetX=0.000000
compassCalOffsetY=0.000000
compassCalOffsetZ=0.000000
compassCalCorr11=1.000000
compassCalCorr12=0.000000
compassCalCorr13=0.000000
compassCalCorr21=0.000000
compassCalCorr22=1.000000
compassCalCorr23=0.000000
compassCalCorr31=0.000000
compassCalCorr32=0.000000
compassCalCorr33=1.000000

# #####################################################################
# 

# Accel calibration
AccelCalValid=true
AccelCalMinX=-1.001794
AccelCalMinY=-0.990626
AccelCalMinZ=-1.008715
AccelCalMaxX=1.013935
AccelCalMaxY=1.028891
AccelCalMaxZ=1.031330

# #####################################################################
# 

# Saved gyro bias data
GyroBiasValid=true
GyroBiasX=0.012198
GyroBiasY=-0.011495
GyroBiasZ=-0.009091

# #####################################################################
# 
# 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