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4ae40567ed
- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
50 lines
2.3 KiB
XML
50 lines
2.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_basic_fw" dir="nav" task="control">
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<doc>
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<description>
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Standard navigation patterns and flight plan handling
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</description>
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<define name="NAV_SURVEY_RECTANGLE_DYNAMIC" value="FALSE|TRUE" description="Set to true to allow changing sweep distance mid survey"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="nav">
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<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
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<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
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<dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
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<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
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<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
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<dl_setting MAX="1.0" MIN="0.0" STEP="0.01" VAR="fp_throttle"/>
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<dl_setting MAX="5.0" MIN="-5.0" STEP="0.1" VAR="fp_climb"/>
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<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
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<dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
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<dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
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<dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
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<dl_setting min="10" max="500" step="1" var="nav_survey_sweep" type="float" shortname="Distance" module="modules/nav/nav_survey_rectangle"/>
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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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<provides>navigation</provides>
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</dep>
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<header>
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<file name="nav.h" dir="firmwares/fixedwing"/>
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</header>
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<init fun="nav_init()"/>
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<datalink message="BLOCK" fun="nav_parse_BLOCK(dev,trans,buf)"/>
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<datalink message="MOVE_WP" fun="nav_parse_MOVE_WP(dev,trans,buf)"/>
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<makefile target="ap|sim|nps" firmware="fixedwing">
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<file name="nav.c" dir="$(SRC_FIRMWARE)"/>
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<file name="common_flight_plan.c"/>
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<file name="nav_survey_rectangle.c"/>
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<define name="NAV"/>
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<test firmware="fixedwing">
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<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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</test>
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</makefile>
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</module>
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