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ACwing FC firmware
STM32WB55: attitude IEKF, altitude Kalman filter, flight core, protocol v2
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Files | |
| imu_lsm6dsv16x.c | |
| The sensor-hub configuration sequence follows the official ST example lsm6dsv16x_sensor_hub.c (STMems_Standard_C_drivers), with explicit timeouts instead of infinite loops. | |
| imu_lsm6dsv16x.h | |
| IMU library: LSM6DSV16X (gyro + acc) with the LIS2MDL and the barometer (LPS22DF on the X-NUCLEO-IKS4A1 in Mode 3, LPS22HB on the ACwing FC rev A) read by the internal sensor hub and placed in the same FIFO. | |