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Felix Ruess
Merge pull request #209 'fixedwing_ins'
tried to clean ins xsens subsystem up a little for fixedwings
* removed the AhrsEvent
* removed all ahrs things from ins_xsens
* added an InsEvent for fixedwings
* removed some gps stuff from ins_xsens and used the normal gps callbacks instead
* made baud rate for xsens configurable
To use the XSens MTi-G as a full INS (with the xsens GPS):
```xml
<subsystem name="ins" type="xsens">
<configure name="XSENS_UART_NR" value="3"/>
<configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
```
to use it only as an IMU (still need to add an AHRS algorithm and other GPS as usual)
```xml
<subsystem name="imu" type="xsens">
<configure name="XSENS_UART_NR" value="3"/>
<configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
```
|
fa1f65c73c3d525b112465ebd0110a975021b330 |
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Felix Ruess
[xsens] new imu xsens subsystem
* use the Xsens to only provide imu measurements
* use an external AHRS algorithm with it
|
9884442f58b47ae6d324629ff13212b6eb1f7989 |
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Felix Ruess
[xsens] make a struct for the xsens time
|
2440139fc3d593e8e4ea6e56a44151770dc0a7ae |
| 5 more changes… |