mirror of
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++
62 lines
2.9 KiB
XML
62 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_float_invariant" dir="ins" task="estimation">
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<doc>
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<description>
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Invariant INS (in float).
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Estimates attitude, velocity, position and (gyro, accel, baro) biases.
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</description>
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<configure name="USE_MAGNETOMETER" value="TRUE|FALSE" description="use magnetometer"/>
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<configure name="AHRS_ALIGNER_LED" value="2" description="LED number to indicate if AHRS/INS is aligned"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="invariant">
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<dl_setting MAX="1" MIN="1" STEP="1" VAR="ins_float_inv.reset" shortname="reset"/>
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<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lv" shortname="lv" module="modules/ins/ins_float_invariant"/>
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<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lb" shortname="lb"/>
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<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.mv" shortname="mv"/>
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<dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.mh" shortname="mh"/>
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<dl_setting MAX="20" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nx" shortname="nx"/>
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<dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nxz" shortname="nxz"/>
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<dl_setting MAX="30" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.mvz" shortname="mvz"/>
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<dl_setting MAX="5" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nh" shortname="nh"/>
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<dl_setting MAX="5" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.ov" shortname="ov"/>
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<dl_setting MAX="3" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.ob" shortname="ob"/>
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<dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.rv" shortname="rv"/>
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<dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.rh" shortname="rh"/>
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<dl_setting MAX="1" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.sh" shortname="sh"/>
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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>@imu,@gps</depends>
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<provides>ins,ahrs</provides>
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</dep>
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<header>
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<file name="ins_float_invariant_wrapper.h"/>
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</header>
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<init fun="ins_float_invariant_wrapper_init()"/>
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<makefile target="ap|nps">
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<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
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<configure name="USE_MAGNETOMETER" default="TRUE"/>
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<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<file name="ahrs_aligner.c" dir="modules/ahrs"/>
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<file name="ins.c"/>
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<file name="ins_float_invariant.c"/>
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<file name="ins_float_invariant_wrapper.c"/>
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<define name="USE_AHRS_ALIGNER"/>
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<test firmware="rotorcraft"/>
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<test firmware="fixedwing">
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<define name="FIXEDWING_FIRMWARE"/>
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</test>
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</makefile>
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<makefile target="sim">
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<define name="USE_AHRS"/>
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<file name="ahrs.c" dir="modules/ahrs"/>
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<file name="ahrs_sim.c" dir="modules/ahrs"/>
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</makefile>
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</module>
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