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Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
These initialization functions are called once on startup.
These event functions are called in each cycle of the module event loop.
These functions are called periodically at the specified frequency from the module periodic loop.
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_vectornav" dir="ins" task="estimation">
<doc>
<description>
Vectornav INS Driver.
</description>
<configure name="VN_PORT" value="uart3" description="UART to use"/>
<configure name="VN_BAUD" value="B921600" description="UART baudrate"/>
</doc>
<dep>
<depends>uart,gps</depends>
<provides>imu,ins,ahrs,gps</provides>
</dep>
<header>
<file name="ins.h"/>
</header>
<init fun="ins_vectornav_init()"/>
<periodic fun="ins_vectornav_monitor()" freq="1.0" autorun="TRUE"/>
<event fun="ins_vectornav_event()"/>
<makefile target="ap">
<configure name="VN_PORT" default="uart3" case="upper|lower"/>
<configure name="VN_BAUD" default="B921600"/>
<define name="USE_$(VN_PORT_UPPER)"/>
<define name="VN_PORT" value="$(VN_PORT_LOWER)"/>
<define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
<define name="GPS_NB_CHANNELS" value="1" description="define a single GPS channel to show pacc on GCS GPS page"/>
<file name="vn200_serial.c" dir="peripherals"/>
<file name="ins.c"/>
<file name="ins_vectornav.c"/>
<file name="ins_vectornav_wrapper.c"/>
<define name="INS_TYPE_H" value="modules/ins/ins_vectornav_wrapper.h" type="string"/>
<file name="gps.c" dir="modules/gps"/>
<define name="USE_GPS"/>
<raw>
ifdef SECONDARY_GPS
ifneq (,$(findstring $(SECONDARY_GPS), vectornav))
# this is the secondary GPS
ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/ins/ins_vectornav_wrapper.h\"
ap.CFLAGS += -DSECONDARY_GPS=GPS_VECTORNAV
else
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_vectornav_wrapper.h\"
ap.CFLAGS += -DPRIMARY_GPS=GPS_VECTORNAV
endif
else
# plain old single GPS usage
ap.CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
endif
</raw>
<test firmware="fixedwing">
<define name="PERIODIC_FREQUENCY" value="100"/>
<define name="VN_PORT" value="uart0"/>
<define name="USE_UART0"/>
<define name="PRIMARY_GPS" value="GPS_VECTORNAV"/>
</test>
</makefile>
</module>