mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
62 lines
3.0 KiB
XML
62 lines
3.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ahrs_float_invariant" dir="ahrs" task="estimation">
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<doc>
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<description>
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AHRS using invariant filter.
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</description>
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<configure name="USE_MAGNETOMETER" value="TRUE" description="set to FALSE to disable magnetometer"/>
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<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
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<define name="SEND_INVARIANT_FILTER" description="send INV_FILTER message for debugging"/>
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<define name="AHRS_FINV_IMU_ID" value="ABI_BROADCAST" description="ABI sender id of IMU to use"/>
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<define name="AHRS_FINV_MAG_ID" value="ABI_BROADCAST" description="ABI sender id of magnetometer to use"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="invariant">
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<dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
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<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="modules/ahrs/ahrs_float_invariant" param="AHRS_INV_LX"/>
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<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly" param="AHRS_INV_LY"/>
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<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz" param="AHRS_INV_LZ"/>
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<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx" param="AHRS_INV_MX"/>
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<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.my" shortname="my" param="AHRS_INV_MY"/>
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<dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mz" shortname="mz" param="AHRS_INV_MZ"/>
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<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.n" shortname="n" param="AHRS_INV_N"/>
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<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.o" shortname="o" param="AHRS_INV_O"/>
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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>ahrs_common,@imu,@mag</depends>
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<provides>ahrs</provides>
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</dep>
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<makefile target="!sim|fbw">
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<configure name="USE_MAGNETOMETER" default="1"/>
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<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
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<file name="ahrs_float_invariant.c"/>
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<file name="ahrs_float_invariant_wrapper.c"/>
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<test>
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<define name="PRIMARY_AHRS" value="ahrs_float_invariant"/>
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<define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_invariant_wrapper.h" type="string"/>
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</test>
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<raw>
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ifdef SECONDARY_AHRS
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ifneq (,$(findstring $(SECONDARY_AHRS), invariant float_invariant))
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# this is the secondary AHRS
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$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_float_invariant_wrapper.h\"
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$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_float_invariant
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else
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# this is the primary AHRS
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_invariant_wrapper.h\"
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$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_float_invariant
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endif
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else
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# plain old single AHRS usage
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$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_invariant_wrapper.h\"
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endif
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</raw>
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</makefile>
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</module>
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