mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 20:36:06 +08:00
Gautier Hattenberger
62646d68de
Add two new items in module's dependency: - recommends: a recommended module tells the sorting algo that if the module is found, it should be sorted accordingly. It is useful for optional dependencies, like shell or mission in some modules - suggests: if a functionality is not provided by the user, a module can suggest a list of modules that can provide them. It is a convenient way to have "default" modules. As a result the former autoload node is removed and replaced by suggested modules.
55 lines
1.9 KiB
XML
55 lines
1.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_xsens" dir="ins" task="estimation">
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<doc>
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<description>
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XSens Mti-G INS
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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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<dep>
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<depends>uart,gps</depends>
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<provides>ins,ahrs,gps</provides>
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</dep>
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<header>
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<file name="ins_xsens.h"/>
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</header>
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<init fun="ins_xsens_init()"/>
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<init fun="gps_xsens_init()"/>
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<periodic fun="xsens_periodic()" freq="60"/>
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<event fun="ins_xsens_event()"/>
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<makefile target="ap">
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<file name="xsens.c"/>
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<file name="xsens_parser.c"/>
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<file name="ins_xsens.c"/>
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<file name="ins.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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<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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<file name="gps.c" dir="modules/gps"/>
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<define name="USE_GPS"/>
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<define name="USE_GPS_XSENS"/>
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<define name="USE_GPS_XSENS_RAW_DATA"/>
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<define name="GPS_NB_CHANNELS" value="16"/>
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<define name="GPS_TYPE_H" value="modules/ins/ins_xsens.h" type="string"/>
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<test firmware="fixedwing">
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<include name="../../var/include"/>
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<define name="PRIMARY_GPS" value="GPS_XSENS"/>
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<define name="USE_GPS_XSENS"/>
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<define name="USE_GPS"/>
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<define name="XSENS_LINK" value="uart0"/>
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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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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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</test>
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</makefile>
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</module>
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