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++
51 lines
2.8 KiB
XML
51 lines
2.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="ahrs_float_invariant" dir="ahrs" task="estimation">
|
|
<doc>
|
|
<description>
|
|
AHRS using invariant filter.
|
|
</description>
|
|
<configure name="AHRS_FINV_TYPE" value="AHRS_PRIMARY|AHRS_SECONDARY" description="set if the AHRS is the primary source (default) or one of the secondary sources"/>
|
|
<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
|
|
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
|
|
<define name="SEND_INVARIANT_FILTER" description="send INV_FILTER message for debugging"/>
|
|
<define name="AHRS_FINV_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
|
|
<define name="AHRS_FINV_MAG_ID" value="ABI_BROADCAST" description="ABI sender id of magnetometer to use"/>
|
|
</doc>
|
|
|
|
<settings>
|
|
<dl_settings>
|
|
<dl_settings NAME="AHRS INV">
|
|
<dl_setting var="ahrs_finv_enable" min="0" step="1" max="1" module="modules/ahrs/ahrs_float_invariant_wrapper" values="DISABLE|ENABLE" handler="enable"/>
|
|
<dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
|
|
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="modules/ahrs/ahrs_float_invariant" param="AHRS_INV_LX"/>
|
|
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly" param="AHRS_INV_LY"/>
|
|
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz" param="AHRS_INV_LZ"/>
|
|
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx" param="AHRS_INV_MX"/>
|
|
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.my" shortname="my" param="AHRS_INV_MY"/>
|
|
<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mz" shortname="mz" param="AHRS_INV_MZ"/>
|
|
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.n" shortname="n" param="AHRS_INV_N"/>
|
|
<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.o" shortname="o" param="AHRS_INV_O"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
|
|
<dep>
|
|
<depends>ahrs_common,@imu,@mag</depends>
|
|
<provides>ahrs</provides>
|
|
</dep>
|
|
<header>
|
|
<file name="ahrs_float_invariant_wrapper.h"/>
|
|
</header>
|
|
<init fun="ahrs_finv_wrapper_init()"/>
|
|
<makefile target="!sim|fbw">
|
|
<configure name="USE_MAGNETOMETER" default="1"/>
|
|
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
|
|
<file name="ahrs_float_invariant.c"/>
|
|
<file name="ahrs_float_invariant_wrapper.c"/>
|
|
<test>
|
|
<define name="AHRS_FINV_TYPE" value="AHRS_PRIMARY"/>
|
|
</test>
|
|
</makefile>
|
|
</module>
|