ahrs_common module

Generic AHRS interface.

Still requires at least one module providing the actual AHRS implementation.

Example for airframe file

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

<module name="ahrs_common">
  b'<configure name="AHRS_ALIGNER_LED" value="1" />\n  '
</module>

Module configuration options

Configure Options

• name: AHRS_ALIGNER_LED value: 1
  Description: LED number to indicate AHRS alignment, none to disable (default is board dependent)

Module functions

Init Functions

These initialization functions are called once on startup.

• ahrs_init()

Files

Header Files

The following headers are automatically included in modules.h

• ahrs.h

Source Files

• modules/ahrs/ahrs.c
• modules/ahrs/ahrs_aligner.c
• modules/ahrs/ahrs.c

Raw ahrs_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ahrs_common" dir="ahrs" task="estimation">
  <doc>
    <description>
      Generic AHRS interface.
      Still requires at least one module providing the actual AHRS implementation.
    </description>
    <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
  </doc>
  <header>
    <file name="ahrs.h"/>
  </header>
  <init fun="ahrs_init()"/>
  <makefile target="!sim|fbw">
    <define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
    <define name="USE_AHRS"/>
    <define name="USE_AHRS_ALIGNER"/>
    <file name="ahrs.c"/>
    <file name="ahrs_aligner.c"/>
    <test>
      <define name="PRIMARY_AHRS" value="ahrs_dcm"/>
      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_dcm_wrapper.h" type="string"/>
    </test>
  </makefile>
  <makefile target="sim">
    <define name="USE_AHRS"/>
    <file name="ahrs.c"/>
  </makefile>
</module>