mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
34 lines
1.4 KiB
XML
34 lines
1.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_hff" dir="ins" task="estimation">
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<doc>
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<description>
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INS with float vertical and horizontal filters.
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</description>
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<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" description="Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)"/>
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<define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
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<define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
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<define name="INS_INT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
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<define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
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</doc>
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<dep>
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<depends>@imu,@gps|@position|@velocity</depends>
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<provides>ins</provides>
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</dep>
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<header>
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<file name="ins_int.h"/>
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</header>
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<init fun="ins_int_init()"/>
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<makefile target="ap|nps">
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<define name="INS_TYPE_H" value="modules/ins/ins_int.h" type="string"/>
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<file name="ins.c"/>
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<file name="ins_int.c"/>
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<file name="vf_float.c"/>
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<file name="hf_float.c"/>
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<define name="USE_HFF"/>
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<test firmware="rotorcraft">
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<define name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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</test>
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</makefile>
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</module>
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