ins_nps module

Simulated AHRS and INS.

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="ins_nps"/>

Auto-loaded modules

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

• gps_nps module

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

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

Raw ins_nps.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins_nps" dir="ins">
  <doc>
    <description>
     Simulated AHRS and INS.
    </description>
  </doc>
  <autoload name="gps_nps"/>
  <header>
    <file name="ins_gps_passthrough.h" dir="subsystems/ins"/>
  </header>
  <init fun="ins_gps_passthrough_init()"/>
  <makefile target="nps|hitl">
    <file name="imu.c" dir="subsystems"/>
    <file name="imu_nps.c" dir="subsystems/imu"/>
    <define name="USE_IMU"/>
    <define name="IMU_TYPE_H" value="subsystems/imu/imu_nps.h" type="string"/>

    <!-- use attitude from nps sim -->
    <define name="NPS_BYPASS_AHRS" value="TRUE"/>
  </makefile>

  <makefile target="nps|hitl" firmware="rotorcraft">
    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_gps_passthrough.c" dir="subsystems/ins"/>
  </makefile>
  <makefile target="nps|hitl" firmware="fixedwing">
    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
    <file name="ins.c" dir="subsystems"/>
    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
  </makefile>
</module>