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https://github.com/paparazzi/paparazzi.git
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Felix Ruess
17d32772c0
* [imu] convert imu subsystems to modules Also - get rid of explicit imu init|event|periodic calls in main - each imu implementation has their own imu_x_init/event/periodic * [imu] fix some imu modules * [imu] fix bad paths * [imu] add imu_common module that every implementation autoloads and put body_to_imu settings in imu_common module * [imu] fix imu_ardrone2 * [conf] add imu_common settings module in conf_example and conf_tests
29 lines
1.4 KiB
XML
29 lines
1.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_common" dir="imu">
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<doc>
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<description>
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Common part for all IMUs.
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</description>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="body2imu">
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<dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PHI" unit="rad" alt_unit="deg" handler="SetBodyToImuPhi" type="float" persistent="true"/>
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<dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.theta" shortname="b2i theta" module="subsystems/imu" param="IMU_BODY_TO_IMU_THETA" unit="rad" alt_unit="deg" handler="SetBodyToImuTheta" type="float" persistent="true"/>
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<dl_setting MAX="180" MIN="-180" STEP="0.5" VAR="imu.body_to_imu.eulers_f.psi" shortname="b2i psi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PSI" unit="rad" alt_unit="deg" handler="SetBodyToImuPsi" type="float" persistent="true"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="imu.b2i_set_current" values="FALSE|TRUE" shortname="b2i cur roll/pitch" module="subsystems/imu" handler="SetBodyToImuCurrent"/>
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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="imu.h" dir="subsystems"/>
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</header>
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<init fun="imu_init()"/>
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<makefile target="!sim|fbw">
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<define name="USE_IMU"/>
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<file name="imu.c" dir="subsystems"/>
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</makefile>
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</module>
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