mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
494e3f3ad9
When adding a test node to a makefile section, with required compilation flags, include and other options, all the files (not arch dependent files) can be compiled with a TAP compatible program, included in the standard tests of the CI servers. Not all module's XML files are converted, but a large part of the most important parts are already covered. More will be added later. The number of tested airframes (full compilation of all targets) have been reduced to speed the CI compile time but still covers the relevant architecture and boards. The main benefit is that the overall coverage is already better than before as previous test aircraft were compiling more or less the same part of the airborne code, while this new mechanism is more efficient to test modules not included in any config.
84 lines
5.1 KiB
XML
84 lines
5.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_float_cmpl_quat" dir="ahrs">
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<doc>
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<description>
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AHRS using complementary filter in floating point.
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Propagation is done in quaternion representation.
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Estimates the gyro bias.
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By default uses magnetometer for heading for rotorcrafts.
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For fixedwing firmware AHRS_GRAVITY_UPDATE_COORDINATED_TURN is enabled by default.
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</description>
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<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
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<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
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<define name="AHRS_MAG_UPDATE_ALL_AXES" value="FALSE|TRUE" description="Use magnetometer to update all axes and not only yaw"/>
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<define name="AHRS_USE_GPS_HEADING" value="FALSE|TRUE" description="Use GPS course to update heading"/>
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<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="FALSE|TRUE" description="Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing)"/>
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<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE|TRUE" description="AHRS_GRAVITY_UPDATE_COORDINATED_TURN assumes the GPS speed is in the X axis direction. Quadshot, DelftaCopter and other hybrids can have the GPS speed in the negative Z direction"/>
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<define name="AHRS_PROPAGATE_LOW_PASS_RATES" description="apply a low pass filter on rotational velocity"/>
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<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30" description="Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) ~ 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. Set to 0 in case of vibrations"/>
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<define name="AHRS_FC_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
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<define name="AHRS_FC_MAG_ID" value="ABI_BROADCAST" description="ABI sender id of magnetometer to use"/>
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<define name="AHRS_FC_GPS_ID" value="GPS_MULTI_ID" description="ABI sender id of GPS to use"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="AHRS">
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<dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
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<dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
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<dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
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<dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
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<dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<autoload name="ahrs_sim"/>
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<header>
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<file name="ahrs.h" dir="subsystems"/>
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</header>
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<makefile target="!sim|fbw" firmware="fixedwing">
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<configure name="USE_MAGNETOMETER" default="0"/>
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<define name="AHRS_USE_GPS_HEADING" cond="ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
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</makefile>
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<makefile target="!sim|fbw">
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<configure name="USE_MAGNETOMETER" default="1"/>
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<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
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<define name="USE_AHRS"/>
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<define name="USE_AHRS_ALIGNER"/>
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<define name="AHRS_PROPAGATE_QUAT"/>
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<file name="ahrs.c" dir="subsystems"/>
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<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
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<file name="ahrs_float_cmpl.c" dir="subsystems/ahrs"/>
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<file name="ahrs_float_cmpl_wrapper.c" dir="subsystems/ahrs"/>
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<test>
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<define name="PRIMARY_AHRS" value="ahrs_fc"/>
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<define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_cmpl_wrapper.h" type="string"/>
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<define name="AHRS_PROPAGATE_QUAT"/>
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</test>
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<raw>
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ifdef SECONDARY_AHRS
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ifneq (,$(findstring $(SECONDARY_AHRS), fcq float_cmpl_quat))
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# this is the secondary AHRS
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$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
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$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_fc
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else
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# this is the primary AHRS
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
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$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_fc
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endif
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else
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# plain old single AHRS usage
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
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endif
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</raw>
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</makefile>
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</module>
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