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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_xsens700" dir="ins" task="estimation">
<doc>
<description>
XSens Mti-G 700 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>
<settings>
<dl_settings>
<dl_settings NAME="xsens700">
<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="modules/ahrs/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" type="float" persistent="true"/>
<dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>uart,gps</depends>
<provides>ins,ahrs,gps</provides>
</dep>
<header>
<file name="ins_xsens700.h"/>
</header>
<init fun="ins_xsens700_init()"/>
<init fun="gps_xsens700_init()"/>
<periodic fun="xsens700_periodic()" freq="60"/>
<event fun="ins_xsens700_event()"/>
<makefile target="ap">
<file name="xsens700.c"/>
<file name="xsens_parser.c"/>
<file name="ins_xsens700.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="GPS_NB_CHANNELS" value="50"/>
<define name="GPS_TYPE_H" value="modules/ins/ins_xsens700.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>