<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins_nps" dir="ins">
  <doc>
    <description>
     Simulated AHRS and INS.
    </description>
  </doc>
  <autoload name="gps_nps"/>
  <header>
    <file name="ins_gps_passthrough.h" dir="subsystems/ins"/>
  </header>
  <init fun="ins_gps_passthrough_init()"/>
  <makefile target="nps|hitl">
    <file name="imu.c" dir="subsystems"/>
    <file name="imu_nps.c" dir="subsystems/imu"/>
    <define name="USE_IMU"/>
    <define name="IMU_TYPE_H" value="subsystems/imu/imu_nps.h" type="string"/>

    <!-- use attitude from nps sim -->
    <define name="NPS_BYPASS_AHRS" value="TRUE"/>
  </makefile>

  <makefile target="nps|hitl" firmware="rotorcraft">
    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_gps_passthrough.c" dir="subsystems/ins"/>
  </makefile>
  <makefile target="nps|hitl" firmware="fixedwing">
    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
  </makefile>
</module>
