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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++
35 lines
1.4 KiB
XML
35 lines
1.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_skeleton" dir="ins" task="estimation">
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<doc>
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<description>
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INS module skeleton.
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This module is meant to be used with an additional module which implements any of the following
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- ins_module_init()
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- ins_module_propagate(struct Int32Vect3 *accel, float dt)
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- ins_module_update_gps(struct GpsState *gps_s, float dt)
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- ins_module_update_baro(float pressure)
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- ins_module_reset_local_origin(void)
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In each of those functions the updated estimate has to be written to the ins_module struct,
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which is then used to update the state interface.
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</description>
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<define name="INS_MODULE_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU messages to subscribe to"/>
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<define name="INS_MODULE_BARO_ID" value="ABI_BROADCAST" description="ABI sender id of BARO_ABS messages to subscribe to"/>
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<define name="INS_MODULE_GPS_ID" value="GPS_MULTI_ID" description="ABI sender id of GPS messages to subscribe to"/>
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</doc>
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<dep>
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<depends>@imu,@gps</depends>
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<provides>ins</provides>
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</dep>
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<init fun="ins_module_wrapper_init()"/>
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<header>
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<file name="ins_skeleton.h"/>
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</header>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="ins.c"/>
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<file name="ins_skeleton.c"/>
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<test firmware="rotorcraft"/>
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</makefile>
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</module>
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