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.
49 lines
2.8 KiB
XML
49 lines
2.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins" dir="ins">
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<doc>
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<description>
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extended INS with vertical filter using sonar.
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</description>
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<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" description="Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)"/>
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<define name="INS_INT_AGL_ID" value="ABI_BROADCAST" description="The ABI sender id of the sonar to use"/>
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<define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
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<define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
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<define name="INS_INT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
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<define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
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<define name="INS_SONAR_MIN_RANGE" value="0.001" description="min sonar range in meters"/>
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<define name="INS_SONAR_MAX_RANGE" value="4.0" description="max sonar range in meters"/>
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<define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" description="assume flat ground and use sonar for height"/>
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<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"/>
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<define name="VFF_EXTENDED_INIT_PXX" value="1." description="Initial value of the diagonal of the P matrix"/>
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<define name="VFF_EXTENDED_ACCEL_NOISE" value="0.5" description="Accelerometer noise setting"/>
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<define name="VFF_EXTENDED_R_BARO" value="2." description="Barometer noise setting"/>
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<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."/>
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</doc>
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<settings>
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<dl_settings NAME="Ins Extended">
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<dl_settings NAME="INS">
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="subsystems/ins/vf_extended_float"/>
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_obs_height" shortname="r_obs_height"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="ins_int.h" dir="subsystems/ins"/>
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</header>
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<init fun="ins_int_init()"/>
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<makefile target="ap|nps">
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<define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
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<file name="ins.c" dir="subsystems"/>
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<file name="ins_int.c" dir="subsystems/ins"/>
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<file name="vf_extended_float.c" dir="subsystems/ins"/>
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<define name="USE_VFF_EXTENDED"/>
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<test firmware="rotorcraft"/>
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</makefile>
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</module>
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