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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
36 lines
1.2 KiB
XML
36 lines
1.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_xsens" dir="ins">
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<doc>
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<description>
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XSens IMU.
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Used to just provide IMU measurements.
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For use with an external AHRS algorithm.
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</description>
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<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
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<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
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</doc>
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<autoload name="imu_common"/>
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<autoload name="imu_nps"/>
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<header>
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<file name="imu_xsens.h"/>
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</header>
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<init fun="imu_xsens_init()"/>
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<event fun="imu_xsens_event()"/>
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<makefile target="ap">
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<file name="xsens.c"/>
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<file name="xsens_common.c"/>
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<file name="imu_xsens.c"/>
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<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
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<configure name="XSENS_BAUD" default="B115200"/>
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<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
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<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
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<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
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<!-- TODO: check output mode -->
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<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
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<define name="IMU_TYPE_H" value="modules/ins/imu_xsens.h" type="string"/>
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</makefile>
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</module>
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