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.
60 lines
3.9 KiB
XML
60 lines
3.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_fish" dir="nav">
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<doc>
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<description>
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Bio-inspired swarm navigation
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based on fish behavior as modeled in:
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Calovi DS, Litchinko A, Lecheval V, Lopez U, Perez Escudero A, Chate H, et al. (2018)
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Disentangling and modeling interactions in fish with burst-and-coast swimming reveal distinct
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alignment and attraction behaviors. PLoS Comput Biol 14(1): e1005933.
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https://doi.org/10.1371/journal.pcbi.1005933
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</description>
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<section name="NAV_FISH" prefix="NAV_FISH_">
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<define name="FLUCT" value="0.1" description="intensity of fluctuations"/>
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</section>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="Nav Fish">
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<dl_setting var="nav_fish_params.alt" shortname="alt" min="0.5" step=".1" max="10.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.max_velocity" shortname="max V" min="0.1" step=".1" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.min_velocity" shortname="min V" min="0.1" step=".1" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.min_d2d" shortname="min d2d" min="0.1" step=".1" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.alpha" shortname="alpha" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.e_w1" shortname="e_w1" min="0.0" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.e_w2" shortname="e_w2" min="0.0" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.y_w" shortname="yw" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.l_w" shortname="lw" min="0.1" step=".1" max="10.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.fluct" shortname="fluct" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.alpha_rep" shortname="alpha rep" min="0.0" step=".01" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.y_att" shortname="y_att" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.l_att" shortname="l_att" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.d0_att" shortname="d0_att" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.y_ali" shortname="y_ali" min="0.01" step=".01" max="10.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.l_ali" shortname="l_ali" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.d0_ali" shortname="d0_ali" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.tr_y_att" shortname="tr_y_att" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.tr_l_att" shortname="tr_l_att" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.tr_y_ali" shortname="tr_y_ali" min="0.01" step=".01" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.tr_l_ali" shortname="tr_l_ali" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.strategy" shortname="strategy" min="0" step="1" max="2" module="modules/nav/nav_fish"/>
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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="nav_fish.h"/>
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</header>
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<init fun="nav_fish_init()"/>
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<makefile>
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<file name="nav_fish.c"/>
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<test firmware="rotorcraft">
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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</test>
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</makefile>
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</module>
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