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35 lines
1.5 KiB
XML
35 lines
1.5 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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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="body2imu">
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<dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" 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 MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.theta" shortname="b2i theta" 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 MAX="180" MIN="-180" STEP="0.5" VAR="imu.body_to_imu.eulers_f.psi" shortname="b2i psi" 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 MAX="1" MIN="0" STEP="1" VAR="imu.b2i_set_current" values="FALSE|TRUE" shortname="b2i cur roll/pitch" module="modules/imu/imu" handler="SetBodyToImuCurrent"/>
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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="!sim|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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