mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
41451d5422
- the exact same basic model is now a NPS FDM - sim target still woks, it is just an alias to NPS with the proper FDM - the old ocaml files are removed - AHRS and INS are bypassed, since the accelerations are not well calculated by the model
49 lines
3.1 KiB
XML
49 lines
3.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_common" dir="imu" task="sensors">
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<doc>
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<description>
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Common part for all IMUs.
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This takes the IMU_GYRO_RAW, IMU_ACCEL_RAW and IMU_MAG_RAW ABI messages as input.
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</description>
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<section name="IMU" prefix="IMU_">
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<define name="INTEGRATION" value="FALSE" description="Enable gyro/accel integration calculations (enabled for the ekf2)"/>
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<define name="GYRO_CALIB" value="{}" description="Gyroscope calibration structures list (see struct imu_gyro_t)"/>
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<define name="ACCEL_CALIB" value="{}" description="Accelerometer calibration structures list (see struct imu_accel_t)"/>
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<define name="MAG_CALIB" value="{}" description="Magnetometer calibration structures list (see struct imu_mag_t)"/>
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<define name="GYRO_ABI_SEND_ID" value="ABI_BROADCAST" description="The gyro ABI ID which is send over telemetry/logging"/>
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<define name="ACCEL_ABI_SEND_ID" value="ABI_BROADCAST" description="The accel ABI ID which is send over telemetry/logging"/>
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<define name="MAG_ABI_SEND_ID" value="ABI_BROADCAST" description="The mag ABI ID which is send over telemetry/logging"/>
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<define name="LOG_HIGHSPEED" value="FALSE" description="Log all the accel/gyro measurements at the IMU sampling rates in floats"/>
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<define name="LOG_HIGHSPEED_DEVICE" value="flightrecorder_sdlog" description="The device to log all the highspeeds measurements"/>
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</section>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="IMU">
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<dl_setting var="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" min="-90" max="90" step="0.5" module="modules/imu/imu" param="IMU_BODY_TO_IMU_PHI" unit="rad" alt_unit="deg" handler="SetBodyToImuPhi" type="float" persistent="true"/>
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<dl_setting var="imu.body_to_imu.eulers_f.theta" shortname="b2i theta" min="-90" max="90" step="0.5" module="modules/imu/imu" param="IMU_BODY_TO_IMU_THETA" unit="rad" alt_unit="deg" handler="SetBodyToImuTheta" type="float" persistent="true"/>
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<dl_setting var="imu.body_to_imu.eulers_f.psi" shortname="b2i psi" min="-90" max="90" step="0.5" module="modules/imu/imu" param="IMU_BODY_TO_IMU_PSI" unit="rad" alt_unit="deg" handler="SetBodyToImuPsi" type="float" persistent="true"/>
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<dl_setting var="imu.b2i_set_current" shortname="b2i cur roll/pitch" min="0" max="1" step="1" values="FALSE|TRUE" module="modules/imu/imu" handler="SetBodyToImuCurrent"/>
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<dl_setting var="imu.gyro_abi_send_id" shortname="gyro abi send" min="0" max="255" step="1" param="IMU_GYRO_ABI_SEND_ID"/>
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<dl_setting var="imu.accel_abi_send_id" shortname="accel abi send" min="0" max="255" step="1" param="IMU_ACCEL_ABI_SEND_ID"/>
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<dl_setting var="imu.mag_abi_send_id" shortname="mag abi send" min="0" max="255" step="1" param="IMU_MAG_ABI_SEND_ID"/>
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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>electrical</depends>
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</dep>
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<header>
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<file name="imu.h"/>
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</header>
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<init fun="imu_init()"/>
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<makefile target="!fbw">
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<define name="USE_IMU"/>
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<file name="imu.c"/>
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<test/>
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</makefile>
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</module>
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