mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
dfd8e93927
* [generator] generate unique ID and names table for modules * [state] add accessors for the state origin * [state] don't access directly to state origin, use getters * [state] filter inputs with module ID * [ahrs] convert AHRS modules to state input filter - selection of ahrs with settings from each module - init functions for each ahrs modules - remove old chimu * update unit test * [ins] decoupled INS implementation To allow multiple INS at the same time: - remove weak functions from ins.c - remove the INS_TYPE_H define - use ABI message to trigger INS reset * [state] protect for c++
67 lines
4.7 KiB
XML
67 lines
4.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_float_cmpl_quat" dir="ahrs" task="estimation">
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<doc>
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<description>
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AHRS using complementary filter in floating point.
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Propagation is done in quaternion representation.
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Estimates the gyro bias.
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By default uses magnetometer for heading for rotorcrafts.
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For fixedwing firmware AHRS_GRAVITY_UPDATE_COORDINATED_TURN is enabled by default.
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</description>
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<configure name="AHRS_FC_TYPE" value="AHRS_PRIMARY|AHRS_SECONDARY" description="set if the AHRS is the primary source (default) or one of the secondary sources"/>
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<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
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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_USE_GPS_HEADING" value="FALSE|TRUE" description="Use GPS course to update heading"/>
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<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="FALSE|TRUE" description="Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing)"/>
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<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE|TRUE" description="AHRS_GRAVITY_UPDATE_COORDINATED_TURN assumes the GPS speed is in the X axis direction. Quadshot, DelftaCopter and other hybrids can have the GPS speed in the negative Z direction"/>
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<define name="AHRS_PROPAGATE_LOW_PASS_RATES" description="apply a low pass filter on rotational velocity"/>
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<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30" description="Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) ~ 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. Set to 0 in case of vibrations"/>
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<define name="AHRS_FC_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
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<define name="AHRS_FC_MAG_ID" value="ABI_BROADCAST" description="ABI sender id of magnetometer to use"/>
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<define name="AHRS_FC_GPS_ID" value="GPS_MULTI_ID" description="ABI sender id of GPS 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 FC">
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<dl_setting var="ahrs_fc_enable" min="0" step="1" max="1" module="modules/ahrs/ahrs_float_cmpl_wrapper" values="DISABLE|ENABLE" handler="enable"/>
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<dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="modules/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
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<dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="modules/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
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<dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="modules/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
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<dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="modules/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
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<dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="modules/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" 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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<dep>
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<depends>ahrs_common,@imu,@gps|@mag</depends>
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<provides>ahrs</provides>
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</dep>
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<header>
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<file name="ahrs_float_cmpl_wrapper.h"/>
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</header>
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<init fun="ahrs_fc_wrapper_init()"/>
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<makefile target="!sim|fbw" firmware="fixedwing">
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<configure name="USE_MAGNETOMETER" default="0"/>
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<define name="AHRS_USE_GPS_HEADING" cond="ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
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</makefile>
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<makefile target="!sim|fbw">
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<configure name="AHRS_FC_TYPE" default="AHRS_PRIMARY"/>
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<define name="AHRS_FC_TYPE" value="$(AHRS_FC_TYPE)"/>
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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_PROPAGATE_QUAT"/>
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<file name="ahrs_float_cmpl.c"/>
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<file name="ahrs_float_cmpl_wrapper.c"/>
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<test>
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<define name="AHRS_FC_TYPE" value="AHRS_PRIMARY"/>
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<define name="AHRS_PROPAGATE_QUAT"/>
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</test>
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</makefile>
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</module>
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