mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
65 lines
2.9 KiB
XML
65 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_int_cmpl_euler" dir="ahrs">
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<doc>
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<description>
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AHRS using complementary filter in fixed point.
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Propagation is done in euler angles representation.
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Not recommended for fixedwings, as this filter doesn't compensate for centrifugal force when flying turns.
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Magnetometer is always only used for heading (yaw).
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Does not handle the accel and mag updates correctly if BODY_TO_IMU is used for more than just adjustment by a few degrees.
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In general, rather use int_cmpl_quat
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</description>
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<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
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<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
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<define name="AHRS_MAG_OFFSET" value="0.0" description="offset in radians to subtract from the heading calculated by the magnetometer"/>
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<define name="USE_NOISE_FILTER" description="apply a simple filter on the rate and accel inputs"/>
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<define name="USE_NOISE_CUT" description="cut rate input at 1 rad/s and accel input at 20m/s2"/>
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<define name="AHRS_ICE_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
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<define name="AHRS_ICE_MAG_ID" value="ABI_BROADCAST" description="ABI sender id of magnetometer to use"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="Filter">
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<dl_setting var="ahrs_ice.reinj_1" min="512" step="512" max="262144" module="subsystems/ahrs/ahrs_int_cmpl_euler" shortname="reinj_1" type="int32" persistent="true"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<autoload name="ahrs_sim"/>
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<header>
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<file name="ahrs.h" dir="subsystems"/>
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</header>
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<makefile target="!sim|fbw">
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<configure name="USE_MAGNETOMETER" default="1"/>
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<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
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<define name="USE_AHRS"/>
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<define name="USE_AHRS_ALIGNER"/>
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<file name="ahrs.c" dir="subsystems"/>
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<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
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<file name="ahrs_int_cmpl_euler.c" dir="subsystems/ahrs"/>
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<file name="ahrs_int_cmpl_euler_wrapper.c" dir="subsystems/ahrs"/>
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<raw>
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ifdef SECONDARY_AHRS
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ifneq (,$(findstring $(SECONDARY_AHRS), ice int_cmpl_euler))
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# this is the secondary AHRS
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$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
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$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_ice
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else
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# this is the primary AHRS
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
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$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_ice
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endif
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else
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# plain old single AHRS usage
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
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endif
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</raw>
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</makefile>
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</module>
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