mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
63 lines
2.9 KiB
XML
63 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_float_mlkf" dir="ahrs">
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<doc>
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<description>
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AHRS using MLKF filter.
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Multiplicative Linearized Kalman Filter in quaternion formulation.
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Estimates the gyro bias and needs magnetometer to update all 3 axes.
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Not suitable for fixedwings!
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Suitable for rotorcraft. The magnetometer is used and needs to be well calibrated. Estimates attitude and heading. Does not use GPS.
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</description>
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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_UPDATE_ALL_AXES" value="FALSE|TRUE" description="Use magnetometer to update all axes and not only yaw"/>
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<define name="AHRS_MLKF_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
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<define name="AHRS_MLKF_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="AHRS">
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<dl_setting var="ahrs_mlkf.mag_noise.x" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X" type="float" persistent="true"/>
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<dl_setting var="ahrs_mlkf.mag_noise.y" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y" type="float" persistent="true"/>
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<dl_setting var="ahrs_mlkf.mag_noise.z" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z" type="float" 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 ($(AHRS_ALIGNER_LED),none)"/>
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<define name="USE_AHRS"/>
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<define name="USE_AHRS_ALIGNER"/>
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<file name="ahrs.c" dir="subsystems"/>
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<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
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<file name="ahrs_float_mlkf.c" dir="subsystems/ahrs"/>
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<file name="ahrs_float_mlkf_wrapper.c" dir="subsystems/ahrs"/>
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<raw>
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ifdef SECONDARY_AHRS
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ifneq (,$(findstring $(SECONDARY_AHRS), mlkf float_mlkf))
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# this is the secondary AHRS
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$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
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$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_mlkf
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else
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# this is the primary AHRS
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
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$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_mlkf
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endif
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else
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# plain old single AHRS usage
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_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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