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[ahrs] convert ahrs subsystems to modules

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This commit is contained in:
Felix Ruess
2016-09-20 13:59:12 +02:00
parent 7ce244e7ca
commit 492824f3f0
22 changed files with 395 additions and 463 deletions
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conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
-32
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@@ -1,32 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
# for fixedwings disable mag by default
USE_MAGNETOMETER ?= 0
include $(CFG_SHARED)/ahrs_float_cmpl_quat.makefile
# add some fixedwing specific flags
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING
endif
endif
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
-32
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@@ -1,32 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
# for fixedwings disable mag by default
USE_MAGNETOMETER ?= 0
include $(CFG_SHARED)/ahrs_float_cmpl_rmat.makefile
# add some fixedwing specific flags
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING
endif
endif
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile
-1
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@@ -1 +0,0 @@
$(error The ahrs_infrared subsystem has converted to a module, please remove it and add <load name="ahrs_infrared.xml"/> to your module section.)
conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
-33
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@@ -1,33 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
# for fixedwings disable mag by default
USE_MAGNETOMETER ?= 0
include $(CFG_SHARED)/ahrs_int_cmpl_quat.makefile
# add some fixedwing specific flags
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING
endif
endif
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
conf/firmwares/subsystems/rotorcraft/ahrs_float_invariant.makefile
-46
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@@ -1,46 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
USE_MAGNETOMETER ?= 1
AHRS_ALIGNER_LED ?= none
AHRS_FINV_CFLAGS = -DUSE_AHRS
AHRS_FINV_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_FINV_CFLAGS += -DUSE_MAGNETOMETER
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_FINV_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), fcq float_cmpl_quat))
# this is the secondary AHRS
AHRS_FINV_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
AHRS_FINV_CFLAGS += -DSECONDARY_AHRS=ahrs_float_invariant
else
# this is the primary AHRS
AHRS_FINV_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
AHRS_FINV_CFLAGS += -DPRIMARY_AHRS=ahrs_float_invariant
endif
else
# plain old single AHRS usage
AHRS_FINV_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
endif
AHRS_FINV_SRCS += subsystems/ahrs.c
AHRS_FINV_SRCS += subsystems/ahrs/ahrs_float_invariant.c
AHRS_FINV_SRCS += subsystems/ahrs/ahrs_float_invariant_wrapper.c
AHRS_FINV_SRCS += subsystems/ahrs/ahrs_aligner.c
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_FINV_CFLAGS)
$(TARGET).srcs += $(AHRS_FINV_SRCS)
endif
conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
-47
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@@ -1,47 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
USE_MAGNETOMETER ?= 1
AHRS_ALIGNER_LED ?= none
AHRS_FC_CFLAGS = -DUSE_AHRS
AHRS_FC_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_FC_CFLAGS += -DUSE_MAGNETOMETER
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_FC_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), fcq float_cmpl_quat))
# this is the secondary AHRS
AHRS_FC_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_FC_CFLAGS += -DSECONDARY_AHRS=ahrs_fc
else
# this is the primary AHRS
AHRS_FC_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_FC_CFLAGS += -DPRIMARY_AHRS=ahrs_fc
endif
else
# plain old single AHRS usage
AHRS_FC_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
endif
AHRS_FC_CFLAGS += -DAHRS_PROPAGATE_QUAT
AHRS_FC_SRCS += subsystems/ahrs.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_aligner.c
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_FC_CFLAGS)
$(TARGET).srcs += $(AHRS_FC_SRCS)
endif
conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
-47
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@@ -1,47 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
USE_MAGNETOMETER ?= 1
AHRS_FC_CFLAGS = -DUSE_AHRS
AHRS_FC_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_FC_CFLAGS += -DUSE_MAGNETOMETER
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_FC_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), fcr float_cmpl_rmat))
# this is the secondary AHRS
AHRS_FC_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_FC_CFLAGS += -DSECONDARY_AHRS=ahrs_fc
else
# this is the primary AHRS
AHRS_FC_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_FC_CFLAGS += -DPRIMARY_AHRS=ahrs_fc
endif
else
# plain old single AHRS usage
AHRS_FC_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
endif
AHRS_FC_CFLAGS += -DAHRS_PROPAGATE_RMAT
AHRS_FC_SRCS += subsystems/ahrs.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_aligner.c
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_FC_CFLAGS)
$(TARGET).srcs += $(AHRS_FC_SRCS)
endif
conf/firmwares/subsystems/shared/ahrs_float_dcm.makefile
-57
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@@ -1,57 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude estimation for fixedwings via dcm algorithm
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_DCM_CFLAGS = -DUSE_AHRS
AHRS_DCM_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_DCM_CFLAGS += -DUSE_MAGNETOMETER
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_DCM_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), dcm float_dcm))
# this is the secondary AHRS
AHRS_DCM_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
AHRS_DCM_CFLAGS += -DSECONDARY_AHRS=ahrs_dcm
else
# this is the primary AHRS
AHRS_DCM_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
AHRS_DCM_CFLAGS += -DPRIMARY_AHRS=ahrs_dcm
endif
else
# plain old single AHRS usage
AHRS_DCM_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
endif
AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs.c
AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm_wrapper.c
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_DCM_CFLAGS)
$(TARGET).srcs += $(AHRS_DCM_SRCS)
endif
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile
-45
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@@ -1,45 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
#
USE_MAGNETOMETER ?= 1
AHRS_ALIGNER_LED ?= none
AHRS_MLKF_CFLAGS = -DUSE_AHRS
AHRS_MLKF_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_MLKF_CFLAGS += -DUSE_MAGNETOMETER
else
$(error ahrs_float_mlkf needs a magnetometer)
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_MLKF_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), mlkf))
# this is the secondary AHRS
AHRS_MLKF_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
AHRS_MLKF_CFLAGS += -DSECONDARY_AHRS=ahrs_mlkf
else
# this is the primary AHRS
AHRS_MLKF_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
AHRS_MLKF_CFLAGS += -DPRIMARY_AHRS=ahrs_mlkf
endif
else
# plain old single AHRS usage
AHRS_MLKF_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
endif
AHRS_MLKF_SRCS += subsystems/ahrs.c
AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_float_mlkf.c
AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_float_mlkf_wrapper.c
AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_aligner.c
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_MLKF_CFLAGS)
$(TARGET).srcs += $(AHRS_MLKF_SRCS)
endif
conf/firmwares/subsystems/shared/ahrs_gx3.makefile
-20
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@@ -1,20 +0,0 @@
# AHRS subsystem for GX3
# 2013, Utah State University, http://aggieair.usu.edu/
GX3_PORT ?= UART3
GX3_BAUD ?= B921600
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_IMU
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_gx3.h\"
AHRS_SRCS += $(SRC_SUBSYSTEMS)/ahrs.c
AHRS_SRCS += $(SRC_SUBSYSTEMS)/imu.c
AHRS_SRCS += subsystems/ahrs/ahrs_gx3.c
GX3_PORT_LOWER=$(shell echo $(GX3_PORT) | tr A-Z a-z)
AHRS_CFLAGS += -DUSE_$(GX3_PORT) -D$(GX3_PORT)_BAUD=$(GX3_BAUD)
AHRS_CFLAGS += -DGX3_PORT=$(GX3_PORT_LOWER)
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
-57
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@@ -1,57 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Fixed point complementary filter using euler angles for attitude estimation
#
USE_MAGNETOMETER ?= 1
AHRS_ALIGNER_LED ?= none
AHRS_ICE_CFLAGS = -DUSE_AHRS
AHRS_ICE_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_ICE_CFLAGS += -DUSE_MAGNETOMETER
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_ICE_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), ice int_cmpl_euler))
# this is the secondary AHRS
AHRS_ICE_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
AHRS_ICE_CFLAGS += -DSECONDARY_AHRS=ahrs_ice
else
# this is the primary AHRS
AHRS_ICE_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
AHRS_ICE_CFLAGS += -DPRIMARY_AHRS=ahrs_ice
endif
else
# plain old single AHRS usage
AHRS_ICE_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
endif
AHRS_ICE_SRCS += subsystems/ahrs.c
AHRS_ICE_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler.c
AHRS_ICE_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
AHRS_ICE_SRCS += subsystems/ahrs/ahrs_aligner.c
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_ICE_CFLAGS)
$(TARGET).srcs += $(AHRS_ICE_SRCS)
endif
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile
-46
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@@ -1,46 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
USE_MAGNETOMETER ?= 1
AHRS_ALIGNER_LED ?= none
AHRS_ICQ_CFLAGS = -DUSE_AHRS
AHRS_ICQ_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_ICQ_CFLAGS += -DUSE_MAGNETOMETER
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_ICQ_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS),ahrs_icq int_cmpl_quat))
# this is the secondary AHRS
AHRS_ICQ_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
AHRS_ICQ_CFLAGS += -DSECONDARY_AHRS=ahrs_icq
else
# this is the primary AHRS
AHRS_ICQ_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
AHRS_ICQ_CFLAGS += -DPRIMARY_AHRS=ahrs_icq
endif
else
# plain old single AHRS usage
AHRS_ICQ_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
endif
AHRS_ICQ_SRCS += subsystems/ahrs.c
AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c
AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_aligner.c
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_ICQ_CFLAGS)
$(TARGET).srcs += $(AHRS_ICQ_SRCS)
endif
conf/modules/ahrs_chimu_spi.xml
+1
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@@ -5,6 +5,7 @@
<description>CHimu (SPI)</description>
<define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
</doc>
<autoload name="ahrs_sim"/>
<header>
<file name="ins_module.h"/>
</header>
conf/modules/ahrs_float_cmpl_quat.xml
+52
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@@ -0,0 +1,52 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_cmpl_quat" dir="ahrs">
<doc>
<description>
AHRS using complementary filter in floating point.
Propagation is done in quaternion representation.
</description>
<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw" firmware="fixedwing">
<configure name="USE_MAGNETOMETER" default="0"/>
</makefile>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<configure name="AHRS_ALIGNER_LED" default="none"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALINGER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<define name="AHRS_PROPAGATE_QUAT"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_cmpl.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_cmpl_wrapper.c" dir="subsystems/ahrs"/>
<raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), fcq float_cmpl_quat))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_fc
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_fc
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
endif
</raw>
</makefile>
</module>
conf/modules/ahrs_float_cmpl_rmat.xml
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@@ -0,0 +1,52 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_flat_cmpl_rmat" dir="ahrs">
<doc>
<description>
AHRS using complementary filter in floating point.
Propagation is done in rotation matrix representation.
</description>
<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw" firmware="fixedwing">
<configure name="USE_MAGNETOMETER" default="0"/>
</makefile>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<configure name="AHRS_ALIGNER_LED" default="none"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALINGER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<define name="AHRS_PROPAGATE_RMAT"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_cmpl.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_cmpl_wrapper.c" dir="subsystems/ahrs"/>
<raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), fcr float_cmpl_rmat))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_fc
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_fc
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
endif
</raw>
</makefile>
</module>
conf/modules/ahrs_float_dcm.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_dcm" dir="ahrs">
<doc>
<description>
AHRS using DCM filter.
</description>
<configure name="USE_MAGNETOMETER" value="FALSE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="0"/>
<configure name="AHRS_ALIGNER_LED" default="none"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALINGER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_dcm.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_dcm_wrapper.c" dir="subsystems/ahrs"/>
<raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), dcm float_dcm))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_dcm
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_dcm
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
endif
</raw>
</makefile>
</module>
conf/modules/ahrs_float_invariant.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_dcm" dir="ahrs">
<doc>
<description>
AHRS using invariant filter.
</description>
<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<configure name="AHRS_ALIGNER_LED" default="none"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALINGER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_invariant.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_invariant_wrapper.c" dir="subsystems/ahrs"/>
<raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), invariant float_invariant))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_float_invariant
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_float_invariant
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
endif
</raw>
</makefile>
</module>
conf/modules/ahrs_float_mlkf.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_mlkf" dir="ahrs">
<doc>
<description>
AHRS using MLKF filter.
Multiplicative Linearized Kalman Filter.
</description>
<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<configure name="AHRS_ALIGNER_LED" default="none"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALINGER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_mlkf.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_mlkf_wrapper.c" dir="subsystems/ahrs"/>
<raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), mlkf float_mlkf))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_mlkf
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_mlkf
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
endif
</raw>
</makefile>
</module>
conf/modules/ahrs_gx3.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_gx3" dir="ahrs">
<doc>
<description>
AHRS driver for GX3.
</description>
<configure name="GX3_PORT" value="UART3" description="uart for GX3"/>
<configure name="GX3_BAUD" value="B921600" description="GX3 uart baud rate"/>
</doc>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="ap">
<configure name="GX3_PORT" default="UART3" case="upper|lower"/>
<configure name="GX3_BAUD" default="B921600"/>
<define name="USE_$(GX3_PORT_UPPER)"/>
<define name="$(GX3_PORT_UPPER)_BAUD" value="$(GX3_BAUD)"/>
<define name="USE_AHRS"/>
<define name="USE_IMU"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="imu.c" dir="subsystems"/>
<file name="ahrs_gx3.c" dir="subsystems/ahrs"/>
</makefile>
</module>
conf/modules/ahrs_int_cmpl_euler.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_int_cmpl_euler" dir="ahrs">
<doc>
<description>
AHRS using complementary filter in fixed point.
Propagation is done in euler angles representation.
</description>
<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<configure name="AHRS_ALIGNER_LED" default="none"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALINGER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_int_cmpl_euler.c" dir="subsystems/ahrs"/>
<file name="ahrs_int_cmpl_euler_wrapper.c" dir="subsystems/ahrs"/>
<raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), ice int_cmpl_euler))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_ice
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_ice
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
endif
</raw>
</makefile>
</module>
conf/modules/ahrs_int_cmpl_quat.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_int_cmpl_quat" dir="ahrs">
<doc>
<description>
AHRS using complementary filter in fixed point.
Propagation is done in quaternion representation.
</description>
<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
</doc>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw" firmware="fixedwing">
<configure name="USE_MAGNETOMETER" default="0"/>
</makefile>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="1"/>
<configure name="AHRS_ALIGNER_LED" default="none"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALINGER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_int_cmpl_quat.c" dir="subsystems/ahrs"/>
<file name="ahrs_int_cmpl_quat_wrapper.c" dir="subsystems/ahrs"/>
<raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), icq int_cmpl_quat))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_icq
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_icq
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
endif
</raw>
</makefile>
</module>
conf/modules/ahrs_sim.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_sim" dir="ahrs">
<doc>
<description>
Simple simulation of the AHRS result.
Only for the simple fixedwing sim.
</description>
</doc>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="sim">
<define name="USE_AHRS"/>
<define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
</makefile>
</module>