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++
38 lines
1.9 KiB
XML
38 lines
1.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_extended" dir="ins" task="estimation">
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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="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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<define name="DEBUG_VFF_EXTENDED" value="0|1|2" description="If set > 0, this will send the vff message. If > 1 then it will also print the P matrix"/>
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<define name="VFF_EXTENDED_INIT_PXX" value="1." description="Initial value of the diagonal of the P matrix"/>
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<define name="VFF_EXTENDED_ACCEL_NOISE" value="0.5" description="Accelerometer noise setting"/>
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<define name="VFF_EXTENDED_R_BARO" value="2." description="Barometer noise setting"/>
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<define name="VFF_EXTENDED_NON_FLAT_GROUND" value="FALSE" description="VFF_EXTENDED_NON_FLAT_GROUND removes the assumption of a flat ground and tries to estimate the height of the obstacles under the vehicle."/>
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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="modules/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_obs_height" shortname="r_obs_height"/>
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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>ins_int_common</depends>
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<provides>ins</provides>
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</dep>
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<makefile target="ap|nps">
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<file name="vf_extended_float.c"/>
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<define name="USE_VFF_EXTENDED"/>
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<test firmware="rotorcraft"/>
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</makefile>
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</module>
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