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[test] add A/C with ins_invariant filter in test conf

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Gautier Hattenberger
2015-01-19 18:32:30 +01:00
parent d58602b7bb
commit b684dc60b0
2 changed files with 29 additions and 8 deletions
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conf/airframes/ENAC/fixed-wing/jp.xml
+18 -8
View File
@@ -22,11 +22,27 @@
<define name="USE_I2C2"/>
<configure name="PERIODIC_FREQUENCY" value="125"/>
<target name="ap" board="apogee_1.0_chibios"/>
<target name="sim" board="pc"/>
<target name="ap" board="apogee_1.0_chibios">
<subsystem name="ins" type="float_invariant">
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
<define name="MPL3115_OVERSAMPLING" value="2"/>
</subsystem>
</target>
<target name="sim" board="pc">
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
</target>
<target name="nps" board="pc">
<!-- Note NPS needs the ppm type radio_control subsystem -->
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="ins" type="float_invariant">
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
<define name="MPL3115_OVERSAMPLING" value="2"/>
</subsystem>
</target>
<subsystem name="radio_control" type="ppm"/>
@@ -40,12 +56,6 @@
<define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
<define name="APOGEE_SMPLRT_DIV" value="7"/>
</subsystem>
<subsystem name="ins" type="float_invariant">
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
<define name="MPL3115_OVERSAMPLING" value="2"/>
</subsystem>
<subsystem name="control" type="new"/>
<subsystem name="navigation"/>
<!-- Sensors -->
conf/conf_tests.xml
+11
View File
@@ -406,4 +406,15 @@
settings_modules=""
gui_color="blue"
/>
<aircraft
name="JP"
ac_id="40"
airframe="airframes/ENAC/fixed-wing/jp.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
settings_modules="modules/airspeed_adc.xml modules/gps_ubx_ucenter.xml"
gui_color="#ffff7d7d0000"
/>
</conf>