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Starting the IMU/AHRS/INS organization. Step 1: attempt to nicely add an INS + its simulation model into a subsystem.

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This commit is contained in:
Christophe De Wagter
2011-10-26 09:53:03 +02:00
parent 6f82311504
commit cf0d5b9316
8 changed files with 120 additions and 57 deletions
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conf/modules/ins_xsens_MTiG_fixedwing.xml
-26
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@@ -1,26 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins">
<!-- <depend conflict="ins" -->
<!-- <depend require="gps_xsens" -->
<header>
<file name="ins_module.h"/>
</header>
<init fun="ins_init()"/>
<periodic fun="ins_periodic_task()" freq="60"/>
<event fun="InsEventCheckAndHandle(handle_ins_msg())"/>
<makefile>
<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="16" />
<define name="XSENS_OUTPUT_MODE" value="0x1836" />
<file name="ins_xsens.c"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
</makefile>
</module>