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guidoAI
a40e0fa4e1
* Pull request with all the code for 6 DOF optical flow control, the basis of a Nature and Nature Machine Intelligence paper. * Camera ID was already added. * Remove a duplicate airframe file. * Cleanup * Simulator does not work with opticflow * Incorporated comments review * fix provides --------- Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
48 lines
1.6 KiB
XML
48 lines
1.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_flow" dir="ins">
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<doc>
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<description>
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simple INS and AHRS using flow
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</description>
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</doc>
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<settings>
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<dl_settings NAME="INS">
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<dl_settings name="flow">
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<dl_setting var="reset_filter" min="0" step="1" max="1" values="NO|YES" module="modules/ins/ins_flow"/>
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<dl_setting var="run_filter" min="0" step="1" max="1" values="NO|YES" module="modules/ins/ins_flow"/>
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<dl_setting var="use_filter" min="0" step="1" max="3" values="NO|ANGLE|VELOCITY|HEIGHT" module="modules/ins/ins_flow"/>
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<dl_setting var="thrust_factor" min="0.01" step="0.01" max="1.50" module="modules/ins/ins_flow"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>@imu</depends>
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<provides>ahrs,ins</provides>
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</dep>
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<header>
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<file name="ins_flow.h" dir="modules/ins"/>
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</header>
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<init fun="ins_flow_init()"/>
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<periodic fun="ins_flow_update()" autorun="TRUE"/>
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<makefile target="ap|nps">
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<!-- FLOW files -->
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<!-- <define name="USE_AHRS"/> -->
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<define name="USE_AHRS_ALIGNER"/>
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<define name="INS_TYPE_H" value="modules/ins/ins_flow.h" type="string"/>
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<file name="ins.c" dir="modules/ins/"/>
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<file name="ins_flow.c" dir="modules/ins"/>
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<file name="ahrs_int_cmpl_quat.c" dir="modules/ahrs"/>
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<!-- <file name="ahrs.c" dir="subsystems"/> -->
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<file name="ahrs_aligner.c" dir="modules/ahrs"/>
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<!-- <file name="pprz_algebra_float.c" dir="math"/> -->
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<raw>
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_flow.h\"
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$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_icq
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</raw>
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</makefile>
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</module>
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