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++
61 lines
2.0 KiB
XML
61 lines
2.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ins_vectornav" dir="ins" task="estimation">
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<doc>
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<description>
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Vectornav INS Driver.
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</description>
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<configure name="VN_PORT" value="uart3" description="UART to use"/>
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<configure name="VN_BAUD" value="B921600" description="UART baudrate"/>
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</doc>
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<dep>
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<depends>uart,gps</depends>
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<provides>imu,ins,ahrs,gps</provides>
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</dep>
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<header>
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<file name="ins.h"/>
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</header>
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<init fun="ins_vectornav_init()"/>
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<periodic fun="ins_vectornav_monitor()" freq="1.0" autorun="TRUE"/>
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<event fun="ins_vectornav_event()"/>
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<makefile target="ap">
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<configure name="VN_PORT" default="uart3" case="upper|lower"/>
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<configure name="VN_BAUD" default="B921600"/>
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<define name="USE_$(VN_PORT_UPPER)"/>
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<define name="VN_PORT" value="$(VN_PORT_LOWER)"/>
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<define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
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<define name="GPS_NB_CHANNELS" value="1" description="define a single GPS channel to show pacc on GCS GPS page"/>
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<file name="vn200_serial.c" dir="peripherals"/>
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<file name="ins.c"/>
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<file name="ins_vectornav.c"/>
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<file name="ins_vectornav_wrapper.c"/>
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<file name="gps.c" dir="modules/gps"/>
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<define name="USE_GPS"/>
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<raw>
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ifdef SECONDARY_GPS
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ifneq (,$(findstring $(SECONDARY_GPS), vectornav))
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# this is the secondary GPS
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ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/ins/ins_vectornav_wrapper.h\"
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ap.CFLAGS += -DSECONDARY_GPS=GPS_VECTORNAV
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else
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ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_vectornav_wrapper.h\"
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ap.CFLAGS += -DPRIMARY_GPS=GPS_VECTORNAV
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endif
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else
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# plain old single GPS usage
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ap.CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
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endif
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</raw>
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<test firmware="fixedwing">
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<define name="PERIODIC_FREQUENCY" value="100"/>
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<define name="VN_PORT" value="uart0"/>
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<define name="USE_UART0"/>
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<define name="PRIMARY_GPS" value="GPS_VECTORNAV"/>
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</test>
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</makefile>
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</module>
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