ins_xsens_MTiG_fixedwing.xml

<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins">
  <!-- <depend conflict="ins" -->
  <!-- <depend require="gps_xsens" -->
  <header>
    <file name="ins_module.h"/>
  </header>
  <init fun="ins_init()"/>
  <periodic fun="ins_periodic_task()" freq="60"/>
  <event fun="InsEventCheckAndHandle(handle_ins_msg())"/>
  <makefile>
    <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_xsens.h\\\"" />
    <define name="INS_MODULE_H" value="\\\"modules/ins/ins_xsens.h\\\"" />
    <define name="USE_UART$(XSENS_UART_NR)"/>
    <define name="INS_LINK" value="Uart$(XSENS_UART_NR)"/>
    <define name="UART$(XSENS_UART_NR)_BAUD" value="B230400"/>
    <define name="USE_GPS_XSENS"/>
    <define name="USE_GPS_XSENS_RAW_DATA" />
    <define name="GPS_NB_CHANNELS" value="16" />
    <define name="XSENS_OUTPUT_MODE" value="0x1836" />
    <file name="ins_xsens.c"/>
    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
  </makefile>
</module>