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https://github.com/paparazzi/paparazzi.git
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dfd8e93927
* [generator] generate unique ID and names table for modules * [state] add accessors for the state origin * [state] don't access directly to state origin, use getters * [state] filter inputs with module ID * [ahrs] convert AHRS modules to state input filter - selection of ahrs with settings from each module - init functions for each ahrs modules - remove old chimu * update unit test * [ins] decoupled INS implementation To allow multiple INS at the same time: - remove weak functions from ins.c - remove the INS_TYPE_H define - use ABI message to trigger INS reset * [state] protect for c++
56 lines
2.9 KiB
XML
56 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_float_dcm" dir="ahrs" task="estimation">
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<doc>
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<description>
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AHRS using DCM filter.
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No direct gyro bias estimation, but also compensates for attitude drift.
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Uses GPS speed for heading.
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Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing).
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Careful, it doesn't handle all BODY_TO_IMU rotations (mounting positions) correctly!
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The algorithm was developed by William Premerlani and Paul Bizard.
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The algorithm is also used in the AHRS systems of the AdruIMU.
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The name DCM for the algorithm is really a misnomer, as that just means that the orientation is represented as a DirectionCosineMatrix (rotation matrix).
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But since people already know it under that name, we kept it.
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</description>
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<configure name="AHRS_DCM_TYPE" value="AHRS_PRIMARY|AHRS_SECONDARY" description="set if the AHRS is the primary source (default) or one of the secondary sources"/>
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<configure name="USE_MAGNETOMETER" value="FALSE" description="set to FALSE to disable magnetometer"/>
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<define name="USE_MAGNETOMETER_ONGROUND" description="use magnetic compensation before takeoff only while GPS course not good"/>
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<define name="USE_AHRS_GPS_ACCELERATIONS" description="enable forward acceleration compensation from GPS speed"/>
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<define name="ACCEL_WEIGHT_FILTER" value="8" description="adjust accel drift heuristic filter (default 8, 0 to disable filter)"/>
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<define name="ACCEL_WEIGHT_BAND" value="1." description="band size of accel filter: 1. means that there is no correction when accel magnitude exceeds +/- 0.5G around 1G (normal flight)"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="AHRS DCM">
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<dl_setting var="ahrs_dcm_enable" min="0" step="1" max="1" module="modules/ahrs/ahrs_float_dcm_wrapper" values="DISABLE|ENABLE" handler="enable"/>
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<dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="modules/ahrs/ahrs_float_dcm" />
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<dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="modules/ahrs/ahrs_float_dcm" />
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>ahrs_common,@imu,@gps</depends>
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<provides>ahrs</provides>
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</dep>
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<header>
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<file name="ahrs_float_dcm_wrapper.h"/>
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</header>
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<init fun="ahrs_dcm_wrapper_init()"/>
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<makefile target="!sim|fbw">
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<configure name="AHRS_DCM_TYPE" default="AHRS_PRIMARY"/>
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<define name="AHRS_DCM_TYPE" value="$(AHRS_DCM_TYPE)"/>
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<configure name="USE_MAGNETOMETER" default="0"/>
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<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<file name="ahrs_float_dcm.c"/>
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<file name="ahrs_float_dcm_wrapper.c"/>
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<test firmware="fixedwing">
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<define name="AHRS_DCM_TYPE" value="AHRS_PRIMARY"/>
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</test>
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</makefile>
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</module>
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