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_xsens700">
   <configure name="XSENS_PORT" value="uart1" />
   <configure name="XSENS_BAUD" value="B115200" />
 </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

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

Module functions

Init Functions

These initialization functions are called once on startup.

ins_xsens700_init()
gps_xsens700_init()

Event Functions

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

ins_xsens700_event()

Periodic Functions

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

xsens700_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_xsens700.h

Source Files

Raw ins_xsens700.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins_xsens700" dir="ins">
  <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>
  <autoload name="gps"/>
  <autoload name="ins_sim"/>
  <autoload name="ins_nps"/>
  <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_common.c"/>
    <file name="ins_xsens700.c"/>
    <file name="ins.c" dir="subsystems"/>
    <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="subsystems"/>
    <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"/>
  </makefile>
</module>