mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 13:24:03 +08:00
Freek van Tienen
39 lines
1.8 KiB
XML
39 lines
1.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="imu_heater" dir="imu">
|
|
<doc>
|
|
<description>
|
|
IMU Heater through a resistor or IO co-processor
|
|
</description>
|
|
<section name="IMU_HEATER" prefix="IMU_HEATER_">
|
|
<define name="TARGET_TEMP" value="55." description="Target temperature" unit="Celcius"/>
|
|
<define name="P_GAIN" value="200." description="kP gain for the heater" unit="%/degC"/>
|
|
<define name="I_GAIN" value="0.3" description="kI gain for the heater"/>
|
|
<define name="GYRO_ID" value="ABI_BROADCAST" description="Gyro ABI id for the temperature measurement"/>
|
|
<define name="ACCEL_ID" description="Accel ABI id for the temperature measurement"/>
|
|
<define name="GPIO" description="Heater GPIO port for resistor activation"/>
|
|
<define name="GPIO_PIN" description="Heater GPIO pin for resistor activation"/>
|
|
<define name="MAX_ERROR" value="0.15" description="Maximum error for the heater preflight check" unit="percentile"/>
|
|
</section>
|
|
<define name="INTERMCU_IOMCU" description="Heater IOMCU communication enabled"/>
|
|
</doc>
|
|
<settings>
|
|
<dl_settings>
|
|
<dl_settings NAME="IMU Heater">
|
|
<dl_setting var="imu_heater.target_temp" min="-1" step="0.1" max="70" shortname="target_temp" param="IMU_HEATER_TARGET_TEMP"/>
|
|
<dl_setting var="imu_heater.gain_p" min="0" step="0.1" max="500" shortname="gain_p" param="IMU_HEATER_P_GAIN"/>
|
|
<dl_setting var="imu_heater.gain_i" min="0" step="0.01" max="10" shortname="gain_i" param="IMU_HEATER_I_GAIN"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
<header>
|
|
<file name="imu_heater.h"/>
|
|
</header>
|
|
<init fun="imu_heater_init()"/>
|
|
<periodic fun="imu_heater_periodic()"/>
|
|
<periodic fun="imu_heater_periodic_10hz()" freq="10"/>
|
|
<makefile target="!sim|nps|fbw">
|
|
<file name="imu_heater.c"/>
|
|
</makefile>
|
|
</module>
|