mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
dfd8e93927
* [generator] generate unique ID and names table for modules * [state] add accessors for the state origin * [state] don't access directly to state origin, use getters * [state] filter inputs with module ID * [ahrs] convert AHRS modules to state input filter - selection of ahrs with settings from each module - init functions for each ahrs modules - remove old chimu * update unit test * [ins] decoupled INS implementation To allow multiple INS at the same time: - remove weak functions from ins.c - remove the INS_TYPE_H define - use ABI message to trigger INS reset * [state] protect for c++
50 lines
1.8 KiB
XML
50 lines
1.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_vectornav" dir="ahrs" task="estimation">
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<doc>
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<description>
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Vectornav VN200 over uart used as AHRS.
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</description>
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<configure name="AHRS_VECTORNAV_TYPE" value="AHRS_PRIMARY|AHRS_SECONDARY" description="set if the AHRS is the primary source (default) or one of the secondary sources"/>
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<configure name="VN_PORT" value="uart3" description="UART to use"/>
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<configure name="VN_BAUD" value="B921600" description="UART baudrate"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="AHRS vectornav">
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<dl_setting var="ahrs_vectornav_enable" min="0" step="1" max="1" module="modules/ahrs/ahrs_vectornav_wrapper" values="DISABLE|ENABLE" handler="enable"/>
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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>uart</depends>
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<provides>ahrs,imu</provides>
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</dep>
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<header>
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<file name="ahrs_vectornav_wrapper.h"/>
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</header>
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<init fun="ahrs_vectornav_wrapper_init()"/>
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<event fun="ahrs_vectornav_event()"/>
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<makefile target="ap">
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<configure name="AHRS_VECTORNAV_TYPE" default="AHRS_PRIMARY"/>
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<define name="AHRS_VECTORNAV_TYPE" value="$(AHRS_VECTORNAV_TYPE)"/>
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<configure name="VN_PORT" default="uart3" case="upper|lower"/>
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<configure name="VN_BAUD" default="B921600"/>
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<define name="USE_$(VN_PORT_UPPER)"/>
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<define name="VN_PORT" value="$(VN_PORT_LOWER)"/>
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<define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
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<file name="vn200_serial.c" dir="peripherals"/>
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<file name="ahrs.c"/>
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<file name="ahrs_vectornav.c"/>
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<file name="ahrs_vectornav_wrapper.c"/>
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<define name="USE_AHRS"/>
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<test>
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<define name="AHRS_VECTORNAV_TYPE" value="AHRS_PRIMARY"/>
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<define name="VN_PORT" 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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