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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++
44 lines
1.7 KiB
XML
44 lines
1.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_madgwick" dir="ahrs" task="estimation">
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<doc>
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<description>
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AHRS using IMU (accel, gyro) only with Madwick implementation.
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</description>
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<configure name="AHRS_MADGWICK_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="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
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<define name="AHRS_MADWICK_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="AHRS madgwick">
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<dl_setting var="ahrs_madgwick_enable" min="0" step="1" max="1" module="modules/ahrs/ahrs_madgwick_wrapper" values="DISABLE|ENABLE" handler="enable"/>
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<dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_madgwick.reset" shortname="reset"/>
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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</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_madgwick_wrapper.h"/>
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</header>
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<init fun="ahrs_madgwick_wrapper_init()"/>
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<makefile target="!sim|fbw">
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<configure name="AHRS_MADGWICK_TYPE" default="AHRS_PRIMARY"/>
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<define name="AHRS_MADGWICK_TYPE" value="$(AHRS_MADGWICK_TYPE)"/>
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<configure name="USE_MAGNETOMETER" default="0"/>
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<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<file name="ahrs_madgwick.c"/>
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<file name="ahrs_madgwick_wrapper.c"/>
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<test>
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<define name="AHRS_MADGWICK_TYPE" value="AHRS_PRIMARY"/>
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</test>
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</makefile>
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</module>
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