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https://github.com/paparazzi/paparazzi.git
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Fabien-B
42 lines
2.0 KiB
XML
42 lines
2.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="airspeed_uavcan" dir="sensors" task="sensors">
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<doc>
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<description>
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Airspeed sensor over the uavcan protocol and optionally publishes over ABI.
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</description>
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<define name="AIRSPEED_UAVCAN_LOWPASS_FILTER" value="TRUE|FALSE" description="Enable the lowpass filter for the airspeed"/>
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<define name="AIRSPEED_UAVCAN_LOWPASS_TAU" value="0.15" description="Time constant for second order Butterworth low pass filter"/>
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<define name="AIRSPEED_UAVCAN_LOWPASS_PERIOD" value="0.1" description="Period at which the sensor is sending airspeed"/>
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<define name="AIRSPEED_UAVCAN_SEND_ABI" value="true" description="Send the uavcan airspeed sensor over ABI"/>
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<define name="AIRSPEED_UAVCAN_DIFF_P_SCALE" value="1.0" description="Pressure scaling correcting factor"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="Airspeed UAVCAN">
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<dl_setting shortname="autoset offset" var="autoset_offset" handler="autoset_offset" min="0" max="1" step="1" values="FALSE|TRUE" type="fun" module="modules/sensors/airspeed_uavcan"/>
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<dl_setting shortname="diff_p offset" var="airspeed_uavcan.diff_p_offset" min="-2000" max="1000" step="0.1" type="float"/>
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<dl_setting shortname="diff_p scale" var="airspeed_uavcan.diff_p_scale" min="0" max="1" step="0.01" type="float" param="AIRSPEED_UAVCAN_DIFF_P_SCALE"/>
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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>uavcan</depends>
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<provides>airspeed</provides>
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</dep>
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<header>
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<file name="airspeed_uavcan.h"/>
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</header>
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<init fun="airspeed_uavcan_init()"/>
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<makefile target="ap">
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<file name="airspeed_uavcan.c"/>
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<!-- Load DSDL generated files-->
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<include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
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<file name="uavcan.equipment.air_data.RawAirData.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
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<test>
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<include name="$(PAPARAZZI_HOME)/sw/ext/dronecan/libcanard"/>
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</test>
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</makefile>
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</module>
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