<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins">
  <!-- <depend conflict="ins" -->
  <!-- <depend require="gps_xsens" -->
  <header>
    <file name="ins.h"/>
  </header>
  <init fun="ins_init()"/>
  <periodic fun="ins_periodic_task()" freq="60"/>
  <makefile>
    <flag name="USE_UART0"/>
    <flag name="INS_LINK" value="Uart0"/>
    <flag name="UART0_BAUD" value="B115200"/>
    <flag name="USE_GPS_XSENS"/>
    <!-- calibrated, orientation, position, velocity, status -->
    <flag name="XSENS_OUTPUT_MODE" value="0x0836"/>
    <!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
    <flag name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
    <file name="ins_xsens.c"/>
  </makefile>
</module>

