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.
73 lines
3.4 KiB
XML
73 lines
3.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_float_dcm" dir="ahrs">
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<doc>
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<description>
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AHRS using DCM filter.
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No direct gyro bias estimation, but also compensates for attitude drift.
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Uses GPS speed for heading.
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Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing).
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Careful, it doesn't handle all BODY_TO_IMU rotations (mounting positions) correctly!
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The algorithm was developed by William Premerlani and Paul Bizard.
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The algorithm is also used in the AHRS systems of the AdruIMU.
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The name DCM for the algorithm is really a misnomer, as that just means that the orientation is represented as a DirectionCosineMatrix (rotation matrix).
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But since people already know it under that name, we kept it.
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</description>
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<configure name="USE_MAGNETOMETER" value="FALSE" 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="USE_MAGNETOMETER_ONGROUND" description="use magnetic compensation before takeoff only while GPS course not good"/>
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<define name="USE_AHRS_GPS_ACCELERATIONS" description="enable forward acceleration compensation from GPS speed"/>
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<define name="ACCEL_WEIGHT_FILTER" value="8" description="adjust accel drift heuristic filter (default 8, 0 to disable filter)"/>
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<define name="ACCEL_WEIGHT_BAND" value="1." description="band size of accel filter: 1. means that there is no correction when accel magnitude exceeds +/- 0.5G around 1G (normal flight)"/>
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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 MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
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<dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
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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">
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<configure name="USE_MAGNETOMETER" default="0"/>
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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 ($(AHRS_ALIGNER_LED),none)"/>
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<define name="USE_AHRS"/>
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<define name="USE_AHRS_ALIGNER"/>
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<file name="ahrs.c" dir="subsystems"/>
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<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
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<file name="ahrs_float_dcm.c" dir="subsystems/ahrs"/>
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<file name="ahrs_float_dcm_wrapper.c" dir="subsystems/ahrs"/>
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<test firmware="fixedwing">
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<define name="PRIMARY_AHRS" value="ahrs_dcm"/>
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<define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_dcm_wrapper.h" type="string"/>
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</test>
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<raw>
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ifdef SECONDARY_AHRS
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ifneq (,$(findstring $(SECONDARY_AHRS), dcm float_dcm))
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# this is the secondary AHRS
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$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
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$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_dcm
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else
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# this is the primary AHRS
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
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$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_dcm
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endif
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else
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# plain old single AHRS usage
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_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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