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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
33 lines
1.7 KiB
XML
33 lines
1.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="guidance_rover" dir="guidance" task="control">
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<doc>
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<description>
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Base guidance code for rover
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</description>
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</doc>
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<settings target="ap">
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<dl_settings>
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<dl_settings NAME="Guidance">
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<dl_setting var="rover_guidance.speed_pid.p" min="0." step="0.1" max="10." shortname="s_kp" param="ROVER_GUIDANCE_SPEED_PGAIN" type="float" persistent="true"/>
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<dl_setting var="rover_guidance.speed_pid.d" min="0." step="0.1" max="10." shortname="s_kd" param="ROVER_GUIDANCE_SPEED_DGAIN" type="float" persistent="true"/>
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<dl_setting var="rover_guidance.speed_pid.i" min="0." step="0.01" max="1." shortname="s_ki" handler="set_speed_igain" param="ROVER_GUIDANCE_SPEED_IGAIN" type="float" persistent="true" module="guidance/rover_guidance"/>
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<dl_setting var="rover_guidance.turn_pid.p" min="0." step="0.1" max="10." shortname="t_kp" param="ROVER_GUIDANCE_TURN_PGAIN" type="float" persistent="true"/>
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<dl_setting var="rover_guidance.turn_pid.d" min="0." step="0.1" max="10." shortname="t_kd" param="ROVER_GUIDANCE_TURN_DGAIN" type="float" persistent="true"/>
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<dl_setting var="rover_guidance.turn_pid.i" min="0." step="0.01" max="1." shortname="t_ki" handler="set_turn_igain" param="ROVER_GUIDANCE_TURN_IGAIN" type="float" persistent="true" module="guidance/rover_guidance"/>
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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>@navigation</depends>
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<provides>guidance,commands</provides>
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</dep>
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<header>
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<file name="rover_guidance.h"/>
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</header>
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<init fun="rover_guidance_init()"/>
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<makefile target="ap" firmware="rover">
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<file name="rover_guidance.c" dir="$(SRC_FIRMWARE)/guidance"/>
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</makefile>
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</module>
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