mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
e4d9e10492
- support depends, conflicts and provides nodes, all under a 'dep' node - autoload are kept for now and are not moved yet - modules are updated for new dep format - it is now required that module's name and filename are the same
49 lines
2.8 KiB
XML
49 lines
2.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="ins_extended" dir="ins">
|
|
<doc>
|
|
<description>
|
|
extended INS with vertical filter using sonar.
|
|
</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_AGL_ID" value="ABI_BROADCAST" description="The ABI sender id of the sonar to use"/>
|
|
<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"/>
|
|
<define name="INS_SONAR_MIN_RANGE" value="0.001" description="min sonar range in meters"/>
|
|
<define name="INS_SONAR_MAX_RANGE" value="4.0" description="max sonar range in meters"/>
|
|
<define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" description="assume flat ground and use sonar for height"/>
|
|
|
|
<define name="DEBUG_VFF_EXTENDED" value="0|1|2" description="If set > 0, this will send the vff message. If > 1 then it will also print the P matrix"/>
|
|
<define name="VFF_EXTENDED_INIT_PXX" value="1." description="Initial value of the diagonal of the P matrix"/>
|
|
<define name="VFF_EXTENDED_ACCEL_NOISE" value="0.5" description="Accelerometer noise setting"/>
|
|
<define name="VFF_EXTENDED_R_BARO" value="2." description="Barometer noise setting"/>
|
|
<define name="VFF_EXTENDED_NON_FLAT_GROUND" value="FALSE" description="VFF_EXTENDED_NON_FLAT_GROUND removes the assumption of a flat ground and tries to estimate the height of the obstacles under the vehicle."/>
|
|
</doc>
|
|
|
|
<settings>
|
|
<dl_settings NAME="Ins Extended">
|
|
<dl_settings NAME="INS">
|
|
<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="subsystems/ins/vf_extended_float"/>
|
|
<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
|
|
<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
|
|
<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_obs_height" shortname="r_obs_height"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
|
|
<header>
|
|
<file name="ins_int.h" dir="subsystems/ins"/>
|
|
</header>
|
|
<init fun="ins_int_init()"/>
|
|
<makefile target="ap|nps">
|
|
<define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
|
|
<file name="ins.c" dir="subsystems"/>
|
|
<file name="ins_int.c" dir="subsystems/ins"/>
|
|
<file name="vf_extended_float.c" dir="subsystems/ins"/>
|
|
<define name="USE_VFF_EXTENDED"/>
|
|
<test firmware="rotorcraft"/>
|
|
</makefile>
|
|
</module>
|