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.
32 lines
1.4 KiB
XML
32 lines
1.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="ins_skeleton" dir="ins">
|
|
<doc>
|
|
<description>
|
|
INS module skeleton.
|
|
This module is meant to be used with an additional module which implements any of the following
|
|
- ins_module_init()
|
|
- ins_module_propagate(struct Int32Vect3 *accel, float dt)
|
|
- ins_module_update_gps(struct GpsState *gps_s, float dt)
|
|
- ins_module_update_baro(float pressure)
|
|
- ins_module_reset_local_origin(void)
|
|
|
|
In each of those functions the updated estimate has to be written to the ins_module struct,
|
|
which is then used to update the state interface.
|
|
</description>
|
|
<define name="INS_MODULE_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU messages to subscribe to"/>
|
|
<define name="INS_MODULE_BARO_ID" value="ABI_BROADCAST" description="ABI sender id of BARO_ABS messages to subscribe to"/>
|
|
<define name="INS_MODULE_GPS_ID" value="GPS_MULTI_ID" description="ABI sender id of GPS messages to subscribe to"/>
|
|
</doc>
|
|
<init fun="ins_module_wrapper_init()"/>
|
|
<header>
|
|
<file name="ins_skeleton.h"/>
|
|
</header>
|
|
<makefile target="ap|nps" firmware="rotorcraft">
|
|
<define name="INS_TYPE_H" value="modules/ins/ins_skeleton.h" type="string"/>
|
|
<file name="ins.c" dir="subsystems"/>
|
|
<file name="ins_skeleton.c"/>
|
|
<test firmware="rotorcraft"/>
|
|
</makefile>
|
|
</module>
|