Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="ins_xsens">
  b'<configure name="XSENS_PORT" value="uart1" />\n    '
  b'<configure name="XSENS_BAUD" value="B115200" />\n  '
</module>

Module configuration options

Configure Options

name: XSENS_PORT value: uart1
Description: The (uart) port the XSens is connected to
name: XSENS_BAUD value: B115200
Description: UART baud rate

Module functions

Init Functions

These initialization functions are called once on startup.

ins_xsens_init()
gps_xsens_init()

Event Functions

These event functions are called in each cycle of the module event loop.

ins_xsens_event()

Periodic Functions

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

xsens_periodic()
- Frequency in Hz: 60
- 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

ins_xsens.h

Source Files

Raw ins_xsens.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_xsens" dir="ins" task="estimation">
  <doc>
    <description>
      XSens Mti-G INS
    </description>
    <configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
    <configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
  </doc>
  <dep>
    <depends>uart,gps</depends>
    <provides>ins,ahrs,gps</provides>
  </dep>
  <header>
    <file name="ins_xsens.h"/>
  </header>
  <init fun="ins_xsens_init()"/>
  <init fun="gps_xsens_init()"/>
  <periodic fun="xsens_periodic()" freq="60"/>
  <event fun="ins_xsens_event()"/>
  <makefile target="ap">
    <file name="xsens.c"/>
    <file name="xsens_parser.c"/>
    <file name="ins_xsens.c"/>
    <file name="ins.c"/>
    <configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
    <configure name="XSENS_BAUD" default="B115200"/>
    <define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
    <define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
    <define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
    <define name="XSENS_OUTPUT_MODE" value="0x1836"/>
    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
 
    <file name="gps.c" dir="modules/gps"/>
    <define name="USE_GPS"/>
    <define name="USE_GPS_XSENS"/>
    <define name="USE_GPS_XSENS_RAW_DATA"/>
    <define name="GPS_NB_CHANNELS" value="16"/>
    <define name="GPS_TYPE_H" value="modules/ins/ins_xsens.h" type="string"/>
    <test firmware="fixedwing">
      <include name="../../var/include"/>
      <define name="PRIMARY_GPS" value="GPS_XSENS"/>
      <define name="USE_GPS_XSENS"/>
      <define name="USE_GPS"/>
      <define name="XSENS_LINK" value="uart0"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
    </test>
  </makefile>
</module>
 