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[ahrs] move settings to modules

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This commit is contained in:
Felix Ruess
2016-09-20 14:12:32 +02:00
parent 492824f3f0
commit 1da855f408
13 changed files with 87 additions and 87 deletions
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conf/modules/ahrs_float_cmpl_quat.xml
+13
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@@ -10,6 +10,19 @@
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
<dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
conf/modules/ahrs_float_cmpl_rmat.xml
+13
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@@ -10,6 +10,19 @@
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
<dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
conf/modules/ahrs_float_dcm.xml
+12
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@@ -9,6 +9,18 @@
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
<dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
</dl_settings>
</dl_settings>
</settings>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
conf/modules/ahrs_float_invariant.xml
+17
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@@ -9,6 +9,23 @@
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="invariant">
<dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="subsystems/ahrs/ahrs_float_invariant"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz"/>
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx"/>
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.my" shortname="my"/>
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mz" shortname="mz"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.n" shortname="n"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.o" shortname="o"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
conf/modules/ahrs_float_mlkf.xml
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@@ -10,6 +10,17 @@
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_mlkf.mag_noise.x" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X" type="float" persistent="true"/>
<dl_setting var="ahrs_mlkf.mag_noise.y" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y" type="float" persistent="true"/>
<dl_setting var="ahrs_mlkf.mag_noise.z" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
conf/modules/ahrs_int_cmpl_euler.xml
+8
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@@ -11,6 +11,14 @@
</doc>
<settings>
<dl_settings>
<dl_settings NAME="Filter">
<dl_setting var="ahrs_ice.reinj_1" min="512" step="512" max="262144" module="subsystems/ahrs/ahrs_int_cmpl_euler" shortname="reinj_1" type="int32" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
conf/modules/ahrs_int_cmpl_quat.xml
+13
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@@ -10,6 +10,19 @@
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_icq.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
<dl_setting var="ahrs_icq.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" handler="SetAccelOmega" type="float" persistent="true"/>
<dl_setting var="ahrs_icq.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" handler="SetAccelZeta" type="float" persistent="true"/>
<dl_setting var="ahrs_icq.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" handler="SetMagOmega" type="float" persistent="true"/>
<dl_setting var="ahrs_icq.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_zeta" param="AHRS_MAG_ZETA" handler="SetMagZeta" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
conf/settings/estimation/ahrs_float_cmpl.xml
-15
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@@ -1,15 +0,0 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings target="ap|nps|test_ahrs">
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
<dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
<dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/estimation/ahrs_float_dcm.xml
-16
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@@ -1,16 +0,0 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<!-- A conf to use to tune a new A/C -->
<settings target="ap|nps|test_ahrs">
<dl_settings>
<dl_settings NAME="ins">
<dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
<dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/estimation/ahrs_float_invariant.xml
-17
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@@ -1,17 +0,0 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings target="ap|nps|test_ahrs">
<dl_settings>
<dl_settings NAME="invariant">
<dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="subsystems/ahrs/ahrs_float_invariant"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz"/>
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx"/>
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.my" shortname="my"/>
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mz" shortname="mz"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.n" shortname="n"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.o" shortname="o"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/estimation/ahrs_float_mlkf.xml
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@@ -1,13 +0,0 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings target="ap|nps|test_ahrs">
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_mlkf.mag_noise.x" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X" type="float" persistent="true"/>
<dl_setting var="ahrs_mlkf.mag_noise.y" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y" type="float" persistent="true"/>
<dl_setting var="ahrs_mlkf.mag_noise.z" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/estimation/ahrs_int_cmpl_euler.xml
-11
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@@ -1,11 +0,0 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings>
<dl_settings target="ap|nps|test_ahrs">
<dl_settings NAME="Filter">
<dl_setting var="ahrs_ice.reinj_1" min="512" step="512" max="262144" module="subsystems/ahrs/ahrs_int_cmpl_euler" shortname="reinj_1" type="int32" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/estimation/ahrs_int_cmpl_quat.xml
-15
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@@ -1,15 +0,0 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings target="ap|nps|test_ahrs">
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_icq.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
<dl_setting var="ahrs_icq.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" handler="SetAccelOmega" type="float" persistent="true"/>
<dl_setting var="ahrs_icq.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" handler="SetAccelZeta" type="float" persistent="true"/>
<dl_setting var="ahrs_icq.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" handler="SetMagOmega" type="float" persistent="true"/>
<dl_setting var="ahrs_icq.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_zeta" param="AHRS_MAG_ZETA" handler="SetMagZeta" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>