mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-17 23:54:34 +08:00
Felix Ruess
43 lines
1.5 KiB
XML
43 lines
1.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_xsens" dir="ins">
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<doc>
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<description>
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XSens Mti-G INS
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</description>
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<configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
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<configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
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</doc>
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<autoload name="gps"/>
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<autoload name="ins_sim"/>
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<autoload name="ins_nps"/>
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<header>
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<file name="ins_xsens.h"/>
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</header>
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<init fun="ins_xsens_init()"/>
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<init fun="gps_xsens_init()"/>
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<periodic fun="xsens_periodic()" freq="60"/>
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<event fun="ins_xsens_event()"/>
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<makefile target="ap">
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<file name="xsens.c"/>
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<file name="xsens_common.c"/>
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<file name="ins_xsens.c"/>
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<file name="ins.c" dir="subsystems"/>
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<configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
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<configure name="XSENS_BAUD" default="B115200"/>
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<define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
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<define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
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<define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
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<define name="XSENS_OUTPUT_MODE" value="0x1836"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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<file name="gps.c" dir="subsystems"/>
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<define name="USE_GPS"/>
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<define name="USE_GPS_XSENS"/>
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<define name="USE_GPS_XSENS_RAW_DATA"/>
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<define name="GPS_NB_CHANNELS" value="16"/>
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<define name="GPS_TYPE_H" value="modules/ins/ins_xsens.h" type="string"/>
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</makefile>
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</module>
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