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.
67 lines
3.1 KiB
XML
67 lines
3.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_float_mlkf" dir="ahrs">
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<doc>
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<description>
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AHRS using MLKF filter.
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Multiplicative Linearized Kalman Filter in quaternion formulation.
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Estimates the gyro bias and needs magnetometer to update all 3 axes.
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Not suitable for fixedwings!
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Suitable for rotorcraft. The magnetometer is used and needs to be well calibrated. Estimates attitude and heading. Does not use GPS.
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</description>
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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_MLKF_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
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<define name="AHRS_MLKF_MAG_ID" value="ABI_BROADCAST" description="ABI sender id of magnetometer 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_mlkf.mag_noise.x" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X" type="float" persistent="true"/>
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<dl_setting var="ahrs_mlkf.mag_noise.y" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y" type="float" persistent="true"/>
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<dl_setting var="ahrs_mlkf.mag_noise.z" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z" 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">
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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 ($(AHRS_ALIGNER_LED),none)"/>
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<define name="USE_AHRS"/>
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<define name="USE_AHRS_ALIGNER"/>
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<file name="ahrs.c" dir="subsystems"/>
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<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
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<file name="ahrs_float_mlkf.c" dir="subsystems/ahrs"/>
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<file name="ahrs_float_mlkf_wrapper.c" dir="subsystems/ahrs"/>
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<test>
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<define name="PRIMARY_AHRS" value="ahrs_mlkf"/>
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<define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_mlkf_wrapper.h" type="string"/>
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</test>
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<raw>
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ifdef SECONDARY_AHRS
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ifneq (,$(findstring $(SECONDARY_AHRS), mlkf float_mlkf))
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# this is the secondary AHRS
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$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
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$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_mlkf
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else
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# this is the primary AHRS
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
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$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_mlkf
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endif
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else
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# plain old single AHRS usage
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_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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