mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Michal Podhradsky
42 lines
2.1 KiB
XML
42 lines
2.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins" dir="ins">
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<doc>
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<description>
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extended INS with vertical filter using sonar.
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</description>
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<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" description="Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)"/>
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<define name="INS_INT_SONAR_ID" value="ABI_BROADCAST" description="The ABI sender id of the sonar to use"/>
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<define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
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<define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
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<define name="INS_INT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
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<define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
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<define name="INS_SONAR_MIN_RANGE" value="0.001" description="min sonar range in meters"/>
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<define name="INS_SONAR_MAX_RANGE" value="4.0" description="max sonar range in meters"/>
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<define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" description="assume flat ground and use sonar for height"/>
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</doc>
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<settings>
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<dl_settings NAME="Ins Extended">
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<dl_settings NAME="INS">
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="subsystems/ins/vf_extended_float"/>
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_offset" shortname="r_offset"/>
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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="ins_int.h" dir="subsystems/ins"/>
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</header>
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<init fun="ins_int_init()"/>
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<makefile target="ap|nps">
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<define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
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<file name="ins.c" dir="subsystems"/>
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<file name="ins_int.c" dir="subsystems/ins"/>
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<file name="vf_extended_float.c" dir="subsystems/ins"/>
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<define name="USE_VFF_EXTENDED"/>
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</makefile>
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</module>
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