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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++
47 lines
1.6 KiB
XML
47 lines
1.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_flow" dir="ins">
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<doc>
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<description>
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simple INS and AHRS using flow
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</description>
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</doc>
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<settings>
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<dl_settings NAME="INS">
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<dl_settings name="flow">
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<dl_setting var="reset_filter" min="0" step="1" max="1" values="NO|YES" module="modules/ins/ins_flow"/>
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<dl_setting var="run_filter" min="0" step="1" max="1" values="NO|YES" module="modules/ins/ins_flow"/>
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<dl_setting var="use_filter" min="0" step="1" max="3" values="NO|ANGLE|VELOCITY|HEIGHT" module="modules/ins/ins_flow"/>
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<dl_setting var="thrust_factor" min="0.01" step="0.01" max="1.50" module="modules/ins/ins_flow"/>
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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>ahrs,ins</provides>
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</dep>
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<header>
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<file name="ins_flow.h" dir="modules/ins"/>
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</header>
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<init fun="ins_flow_init()"/>
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<periodic fun="ins_flow_update()" autorun="TRUE"/>
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<makefile target="ap|nps">
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<!-- FLOW files -->
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<!-- <define name="USE_AHRS"/> -->
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<define name="USE_AHRS_ALIGNER"/>
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<file name="ins.c" dir="modules/ins/"/>
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<file name="ins_flow.c" dir="modules/ins"/>
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<file name="ahrs_int_cmpl_quat.c" dir="modules/ahrs"/>
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<!-- <file name="ahrs.c" dir="subsystems"/> -->
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<file name="ahrs_aligner.c" dir="modules/ahrs"/>
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<!-- <file name="pprz_algebra_float.c" dir="math"/> -->
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<test firmware="rotorcraft">
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<define name="MOTOR_MIXING_NB_MOTOR" value="4"/>
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<define name="USE_MAGNETOMETER" value="true"/>
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</test>
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</makefile>
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</module>
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