Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-31 12:23:23 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

Merge pull request #1541 from paparazzi/refactor_xsens

Browse Source 
Refactor xsens

Factor out the common code and convert the subsystems to modules.
This is NOT tested with real hardware so far (not many people have a XSens).

- `XSENS_OUTPUT_MODE` might be wrong (or set it to output more than needed) in some cases (like for pure IMU mode)
- The different signs (IMU/sensor orientation) between the different xsens types is also weird and unclear.
See also related #924
This commit is contained in:
Felix Ruess
2016-03-30 23:13:55 +02:00
parent 32df800f8a dd0d41a294
commit 7ad80d1dbf
25 changed files with 1599 additions and 1505 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/examples/microjet_imu_xsens.xml
+4 -4
View File
@@ -21,10 +21,10 @@
<subsystem name="telemetry" type="transparent"/>
<!-- Sensors -->
<subsystem name="imu" type="xsens">
<configure name="XSENS_UART_NR" value="3"/>
<configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
<module name="imu" type="xsens">
<configure name="XSENS_PORT" value="uart3"/>
<configure name="XSENS_BAUD" value="B115200"/>
</module>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="control"/>
conf/airframes/examples/microjet_lisa_m_xsens.xml
+4 -4
View File
@@ -21,10 +21,10 @@
<subsystem name="telemetry" type="transparent"/>
<!-- Sensors -->
<subsystem name="ins" type="xsens">
<configure name="XSENS_UART_NR" value="3"/>
<configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
<module name="ins" type="xsens">
<configure name="XSENS_PORT" value="uart3"/>
<configure name="XSENS_BAUD" value="B115200"/>
</module>
<subsystem name="control"/>
<subsystem name="navigation"/>