<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins">
  <doc>
    <description>CHimu (SPI)</description>
  </doc>
  <!-- <depend conflict="ins" -->
  <header>
    <file name="ins_module.h"/>
  </header>
  <event fun="parse_ins_msg()"/>
  <makefile target="ap">
    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
    <define name="USE_AHRS"/>
    <define name="USE_INS_MODULE"/>
    <define name="USE_SPI"/>
    <define name="INS_LINK" value="SpiSlave"/>
    <define name="USE_USB_HIGH_PCLK" />
    <file name="ahrs_chimu_spi.c"/>
    <file name="imu_chimu.c"/>
    <file name="ahrs.c" dir="subsystems"/>
    <raw>
      ap.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_module.h\"
    </raw>
  </makefile>
</module>
