ins_nps module

Simulated AHRS and INS.

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="ins_nps"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_gps_passthrough_init()

Files

Header Files

The following headers are automatically included in modules.h

• ins_gps_passthrough.h

Source Files

• modules/imu/imu.c
• modules/imu/imu_nps.c
• modules/ins/ins.c
• modules/ins/ins_gps_passthrough.c
• modules/ins/ins.c
• modules/ins/ins_gps_passthrough_utm.c

Raw ins_nps.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ins_nps" dir="ins" task="estimation">
  <doc>
    <description>
     Simulated AHRS and INS.
    </description>
  </doc>
  <dep>
    <depends>@imu,@gps</depends>
    <provides>ins,ahrs</provides>
  </dep>
  <header>
    <file name="ins_gps_passthrough.h"/>
  </header>
  <init fun="ins_gps_passthrough_init()"/>
  <makefile target="sim|nps">
    <file name="imu.c" dir="modules/imu"/>
    <file name="imu_nps.c" dir="modules/imu"/>
    <define name="USE_IMU"/>
 
    <!-- use attitude from nps sim -->
    <define name="NPS_BYPASS_AHRS" value="TRUE"/>
    <test>
      <define name="PERIODIC_FREQUENCY" value="500"/>
      <include name="../simulator/nps"/>
      <include name="../../conf/simulator/nps"/>
      <shell cmd="pkg-config glib-2.0 --cflags"/>
    </test>
  </makefile>
 
  <makefile target="nps" firmware="rotorcraft">
    <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
    <file name="ins.c"/>
    <file name="ins_gps_passthrough.c"/>
  </makefile>
  <makefile target="sim|nps" firmware="fixedwing">
    <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
    <file name="ins.c"/>
    <file name="ins_gps_passthrough_utm.c"/>
  </makefile>
</module>