ahrs_sim module

Simple simulation of the AHRS result.

Only for the simple fixedwing sim.

Example for airframe file

Add to your firmware section:

<module name="ahrs_sim"/>

Module functions

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• update_ahrs_from_sim()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• ahrs.h

Source Files

• modules/ahrs/ahrs_sim.c

Raw ahrs_sim.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ahrs_sim" dir="ahrs" task="estimation">
  <doc>
    <description>
      Simple simulation of the AHRS result.
      Only for the simple fixedwing sim.
    </description>
  </doc>
  <dep>
    <depends>ahrs_common</depends>
    <provides>ahrs</provides>
  </dep>
  <header>
    <file name="ahrs.h"/>
  </header>
  <periodic fun="update_ahrs_from_sim()"/>
  <makefile target="sim">
    <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
    <file name="ahrs_sim.c"/>
    <test>
      <define name="PRIMARY_AHRS" value="ahrs_sim"/>
      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
    </test>
  </makefile>
</module>