XSens MTiG

Module XML file: ins_xsens_MTiG_Uart0.xml

No detailed description...

Example for airframe file

<modules>
  <load name="ins_xsens_MTiG_Uart0.xml"/>
</modules>

Module functions

Init Functions

These initialization functions are called once on startup.

• ins_init()

Periodic Functions

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

• ins_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_module.h

Source Files

• modules/ins/ins_xsens.c

Raw ins_xsens_MTiG_Uart0.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins">
  <doc>
    <description>XSens MTiG</description>
  </doc>
  <!-- <conflicts>ins</conflicts> -->
  <!-- <requires>gps_xsens</requires> -->
  <header>
    <file name="ins_module.h"/>
  </header>
  <init fun="ins_init()"/>
  <periodic fun="ins_periodic()" freq="60"/>
  <makefile>
    <define name="USE_UART0" value="1"/>
    <define name="INS_LINK" value="UART0"/>
    <define name="UART0_BAUD" value="B115200"/>
    <define name="USE_GPS_XSENS"/>
    <!-- calibrated, orientation, position, velocity, status -->
    <define name="XSENS_OUTPUT_MODE" value="0x0836"/>
    <!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
    <define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
    <file name="ins_xsens.c"/>
  </makefile>
</module>