Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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

Source Files

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>