[ins] xsens_mtig700

conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile

@@ -0,0 +1,95 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# XSens Mti-G
+
+#    <load name="ins_xsens_MTiG_fixedwing.xml">
+#      <configure name="XSENS_UART_NR" value="0"/>
+#    </load>
+
+
+
+#########################################
+## ATTITUDE
+
+ifeq ($(TARGET), ap)
+
+#  <init fun="ins_init()"/>
+#  <periodic fun="ins_periodic_task()" freq="60"/>
+#  <event fun="InsEventCheckAndHandle(handle_ins_msg())"/>
+#  <makefile target="ap">
+#    <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_xsens.h\\\"" />
+#    <define name="INS_MODULE_H" value="\\\"modules/ins/ins_xsens.h\\\"" />
+#    <define name="USE_UART$(XSENS_UART_NR)"/>
+#    <define name="INS_LINK" value="Uart$(XSENS_UART_NR)"/>
+#    <define name="UART$(XSENS_UART_NR)_BAUD" value="B230400"/>
+#    <define name="USE_GPS_XSENS"/>
+#    <define name="USE_GPS_XSENS_RAW_DATA" />
+#    <define name="GPS_NB_CHANNELS" value="50" />
+#    <define name="XSENS_OUTPUT_MODE" value="0x1836" />
+#    <file name="ins_xsens.c"/>
+#    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
+#  </makefile>
+
+# ImuEvent -> XSensEvent
+ap.CFLAGS += -DUSE_AHRS -DUSE_INS
+ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/ins_xsens.h\"
+
+# AHRS Results
+ap.CFLAGS += -DINS_MODULE_H=\"modules/ins/ins_xsens.h\"
+ap.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_xsens.h\"
+ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
+
+#B230400
+#B115200
+
+ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
+ap.CFLAGS += -DINS_LINK=Uart$(XSENS_UART_NR)
+ifdef XSENS_BAUDRATE_CONFIG
+ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=B115200
+else
+ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=B230400
+endif
+
+ap.CFLAGS += -DUSE_GPS_XSENS
+ap.CFLAGS += -DGPS_NB_CHANNELS=50
+ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
+ap.srcs   += $(SRC_MODULES)/ins/ins_xsens700.c
+ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
+
+
+endif
+
+ifeq ($(TARGET), fbw)
+
+# when compiling FBW only, the settings need to know the AHRS_TYPE
+
+fbw.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_xsens.h\"
+
+endif
+
+
+ifeq ($(TARGET), sim)
+
+sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
+sim.CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+
+sim.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
+sim.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
+
+endif
+
+#########################################
+## GPS
+
+# ap.CFLAGS += -DGPS
+
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+
+sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
+sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+
+
+
+
+

conf/xsens_MTi-G.xml

@@ -73,6 +73,8 @@
     <field name="period" format="U2"/>
   </message>
 
+  <message name="SetOutputConfiguration" ID="0xC0" to="MT"/>
+
   <message name="SetPeriod" ID="0x04" to="MT" length="2">
     <field name="period" format="U2"/>
   </message>
@@ -103,6 +105,10 @@
     <field name="data" format="V"/>
   </message>
 
+  <message name="MTData2" ID="0x36" to="host">
+    <field name="data" format="V"/>
+  </message>
+
   <message name="ReqHeading" ID="Ox82" to="MT"/>
   <message name="ReqHeadingAck" ID="0x83" to="host">
     <field name="heading" format="R4" unit="rad"/>
@@ -147,6 +153,7 @@
     </block>
   </message>
 
+
   <message name="ReqUTCTime" ID="0x60" to="MT"/>
   <message name="UTCTime" ID="0x61" to="host">
     <field name="time" format="U4" unit="ms"/>
@@ -258,6 +265,75 @@
     <field name="valid" format="U1"/>
   </data>
 
+  <data name="RateOfTurn" length="12">
+    <field name="x" format="R4" unit="m"/>
+    <field name="y" format="R4" unit="m"/>
+    <field name="z" format="R4" unit="m"/>
+  </data>
+
+  <data name="Acceleration" length="12">
+    <field name="x" format="R4" unit="m"/>
+    <field name="y" format="R4" unit="m"/>
+    <field name="z" format="R4" unit="m"/>
+  </data>
+
+  <message name="XDI_GpsSvInfo" id="88A0" to="host">
+    <field name="iTOW" format="U4"/>
+    <field name="nch" format="U1"/>
+    <field name="res1" format="U1"/>
+    <field name="res2" format="U2"/>
+    <block times="nch" length="12">
+      <field name="chn" format="U1"/>
+      <field name="svid" format="U1"/>
+      <field name="bitmask" format="U1"/>
+      <field name="qi" format="U1"/>
+      <field name="cnr" format="U1"/>
+      <field name="elev" format="I1"/>
+      <field name="azim" format="I2"/>
+      <field name="prRes" format="I4"/>
+    </block>
+  </message>
+
+  <data name="GpsSol" length="49">
+    <field name="iTOW" format="U4"/>
+    <field name="fTOW" format="I4"/>
+    <field name="week" format="I2"/>
+    <field name="fix" format="U1"/>
+    <field name="flags" format="U1"/>
+    <field name="ecef_x" format="I4"/>
+    <field name="ecef_y" format="I4"/>
+    <field name="ecef_z" format="I4"/>
+    <field name="pAcc" format="U4"/>
+    <field name="ecef_vx" format="I4"/>
+    <field name="ecef_vy" format="I4"/>
+    <field name="ecef_vz" format="I4"/>
+    <field name="sAcc" format="U4"/>
+    <field name="pDop" format="U2"/>
+    <field name="res1" format="U1"/>
+    <field name="numSv" format="U1"/>
+    <field name="res2" format="U1"/>
+  </data>
+
+
+  <data name="StatusWord" length="4">
+    <field name="status" format="U4"/>
+  </data>
+
+  <data name="LatLon" length="8">
+    <field name="lat" format="R4" unit="deg"/>
+    <field name="lon" format="R4" unit="deg"/>
+  </data>
+
+  <data name="Altitude" length="4">
+    <field name="h" format="R4" unit="m"/>
+  </data>
+
+  <data name="VelocityXYZ" length="12">
+    <field name="x" format="R4" unit="m/s"/>
+    <field name="y" format="R4" unit="m/s"/>
+    <field name="z" format="R4" unit="m/s"/>
+  </data>
+
   <mask name="Temp"         bitmask="0x0001"/>
   <mask name="Calibrated"   bitmask="0x0002"/>
   <mask name="Orientation"  bitmask="0x0004"/>