mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
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++
29 lines
1.1 KiB
XML
29 lines
1.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_alt_float" dir="ins" task="estimation">
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<doc>
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<description>
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INS with Kalman Filter on altitude.
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For fixedwings.
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</description>
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<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" description="Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)"/>
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<define name="INS_ALT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
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<define name="INS_ALT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
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<define name="INS_ALT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
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<define name="DEBUG_ALT_KALMAN" description="if defined, send the debug ALT_KALMAN telemetry message"/>
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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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<header>
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<file name="ins_alt_float.h"/>
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</header>
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<init fun="ins_alt_float_init()"/>
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<makefile target="ap|nps|sim" firmware="fixedwing">
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<file name="ins.c"/>
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<file name="ins_alt_float.c"/>
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<test firmware="fixedwing"/>
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</makefile>
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</module>
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