<!DOCTYPE module SYSTEM "module.dtd">

<module name="imu_ardrone2" dir="imu">
  <doc>
    <description>
      IMU on Parrot ARDrone2.
    </description>
  </doc>
  <autoload name="imu_common"/>
  <autoload name="imu_nps"/>
  <header>
    <file name="imu_ardrone2.h" dir="subsystems/imu"/>
  </header>

  <init fun="imu_ardrone2_init()"/>
  <event fun="navdata_update()"/>

  <makefile target="!sim|nps|fbw">
    <!-- set fixed AHRS propegation frequencies -->
    <configure name="AHRS_PROPAGATE_FREQUENCY" default="200"/>
    <define name="AHRS_PROPAGATE_FREQUENCY" value="$(AHRS_PROPAGATE_FREQUENCY)"/>
    <configure name="AHRS_CORRECT_FREQUENCY" default="200"/>
    <define name="AHRS_CORRECT_FREQUENCY" value="$(AHRS_CORRECT_FREQUENCY)"/>

    <define name="IMU_TYPE_H" value="subsystems/imu/imu_ardrone2.h" type="string"/>

    <file name="imu_ardrone2.c" dir="subsystems/imu"/>
    <file name="navdata.c" dir="boards/ardrone"/>
  </makefile>
</module>
