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https://github.com/paparazzi/paparazzi.git
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41451d5422
- the exact same basic model is now a NPS FDM - sim target still woks, it is just an alias to NPS with the proper FDM - the old ocaml files are removed - AHRS and INS are bypassed, since the accelerations are not well calculated by the model
34 lines
1.3 KiB
XML
34 lines
1.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_arduimu_basic" dir="ins" task="estimation">
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<doc>
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<description>ArduIMU v2</description>
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<define name="USE_HIGH_ACCEL_FLAG" description="flag to disable accelerometers on high acceleration detection (low speed, high thrust)"/>
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<define name="ARDUIMU_SYNC_SEND" description="flag to downlink raw gyro and accels values"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="ins">
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<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
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<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="arduimu_calibrate_neutrals" shortname="calibrate" values="FALSE|TRUE"/>
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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>@gps</depends>
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<provides>imu,ins,ahrs</provides>
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</dep>
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<header>
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<file name="ins_arduimu_basic.h"/>
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</header>
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<init fun="ArduIMU_init()"/>
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<periodic fun="ArduIMU_periodic()" freq="60"/>
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<periodic fun="ArduIMU_periodicGPS()" freq="4"/>
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<event fun="ArduIMU_event()"/>
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<makefile target="ap">
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<file name="ins_arduimu_basic.c"/>
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</makefile>
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</module>
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