# #####################################################################
#
# 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=106

#
# 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=-92.144234
CompassCalMinY=-77.605621
CompassCalMinZ=-30.469845
CompassCalMaxX=8.607629
CompassCalMaxY=25.294043
CompassCalMaxZ=66.379044

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

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

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

# Compass ellipsoid calibration
compassCalEllipsoidValid=true
compassCalOffsetX=-4.234749
compassCalOffsetY=-0.792819
compassCalOffsetZ=3.661591
compassCalCorr11=0.907478
compassCalCorr12=0.001805
compassCalCorr13=0.013574
compassCalCorr21=0.001805
compassCalCorr22=0.997491
compassCalCorr23=-0.009670
compassCalCorr31=0.013574
compassCalCorr32=-0.009670
compassCalCorr33=0.962253

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

# Accel calibration
AccelCalValid=true
AccelCalMinX=-0.970672
AccelCalMinY=-0.915647
AccelCalMinZ=-0.993171
AccelCalMaxX=0.966258
AccelCalMaxY=0.955519
AccelCalMaxZ=1.001595

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

# Saved gyro bias data
GyroBiasValid=true
GyroBiasX=0.189002
GyroBiasY=0.039105
GyroBiasZ=0.021133

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