mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
40 lines
2.2 KiB
XML
40 lines
2.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<!-- @define IR_I2C_READ_ONLY for read only module -->
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<module name="ir_i2c" dir="sensors">
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<doc>
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<description>I2C Infrared sensor</description>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="IR I2C">
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<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
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<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
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<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
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<dl_setting MAX="3" MIN="0" STEP="1" VAR="ir_i2c_conf_word" module="sensors/infrared_i2c" values="1|2|4|8" handler="SetConfWord"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="infrared_i2c.h"/>
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</header>
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<init fun="infrared_i2c_init()"/>
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<periodic fun="infrared_i2c_update()" freq="60."/>
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<!--periodic fun="infrared_i2cDownlink()" freq="1."/-->
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<event fun="infrared_i2cEvent()"/>
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<makefile target="ap|sim">
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<define name="USE_INFRARED"/>
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<file name="infrared.c" dir="subsystems/sensors"/>
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<file name="infrared_i2c.c" dir="subsystems/sensors"/>
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</makefile>
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</module>
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