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++
28 lines
1.1 KiB
XML
28 lines
1.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="ins_int_common" dir="ins" task="estimation">
|
|
<doc>
|
|
<description>
|
|
Common base module for INS_INT
|
|
</description>
|
|
<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" description="Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)"/>
|
|
<define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
|
|
<define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
|
|
<define name="INS_INT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
|
|
<define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
|
|
</doc>
|
|
<dep>
|
|
<depends>@imu,@gps|@position|@velocity</depends>
|
|
<provides>ins</provides>
|
|
</dep>
|
|
<header>
|
|
<file name="ins_int.h" dir="modules/ins"/>
|
|
</header>
|
|
<init fun="ins_int_init()"/>
|
|
<makefile target="ap|nps">
|
|
<file name="ins.c"/>
|
|
<file name="ins_int.c"/>
|
|
<test firmware="rotorcraft"/>
|
|
</makefile>
|
|
</module>
|