mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Felix Ruess
39 lines
1.6 KiB
XML
39 lines
1.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_float_invariant" dir="ins">
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<doc>
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<description>
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Invariant INS (in float).
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Estimates attitude, velocity, position and (gyro, accel, baro) biases.
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</description>
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<configure name="USE_MAGNETOMETER" value="TRUE|FALSE" description="use magnetometer"/>
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<configure name="AHRS_ALIGNER_LED" value="2" description="LED number to indicate if AHRS/INS is aligned"/>
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</doc>
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<header>
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<file name="ins_float_invariant_wrapper.h" dir="subsystems/ins"/>
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</header>
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<init fun="ins_float_invariant_wrapper_init()"/>
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<makefile target="ap|nps">
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<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
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<configure name="USE_MAGNETOMETER" default="TRUE"/>
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<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
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<file name="ins.c" dir="subsystems"/>
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<file name="ins_float_invariant.c" dir="subsystems/ins"/>
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<file name="ins_float_invariant_wrapper.c" dir="subsystems/ins"/>
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<define name="USE_AHRS_ALIGNER"/>
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<define name="INS_TYPE_H" value="subsystems/ins/ins_float_invariant_wrapper.h" type="string"/>
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</makefile>
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<makefile target="ap|nps" firmware="fixedwing">
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<define name="INS_FINV_USE_UTM"/>
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</makefile>
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<makefile target="sim">
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<define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
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<define name="USE_AHRS"/>
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<file name="ahrs.c" dir="subsystems"/>
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<file name="ahrs_sim.c" dir="subsystems/ahrs"/>
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</makefile>
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</module>
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