ground_detect_sensor.c File Reference

#include "modules/nav/ground_detect_sensor.h"
#include "state.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"

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Macros
#define	GROUND_DETECT_SENSOR_COUNTER_TRIGGER   10
#define	GROUND_DETECT_SENSOR_SPECIFIC_THRUST_THRESHOLD   -5.0

Functions
void	ground_detect_sensor_init (void)
bool	ground_detect (void)
void	ground_detect_sensor_periodic (void)

Variables
bool	ground_detected = false

Detailed Description

Author

Dennis van Wijngaarden D.C.v.nosp@m.anWi.nosp@m.jngaa.nosp@m.rden.nosp@m.@tude.nosp@m.lft..nosp@m.nl Ground detection module relying on lidar to detect ground

Definition in file ground_detect_sensor.c.

Macro Definition Documentation

GROUND_DETECT_SENSOR_COUNTER_TRIGGER

#define GROUND_DETECT_SENSOR_COUNTER_TRIGGER   10

Definition at line 45 of file ground_detect_sensor.c.

GROUND_DETECT_SENSOR_SPECIFIC_THRUST_THRESHOLD

#define GROUND_DETECT_SENSOR_SPECIFIC_THRUST_THRESHOLD   -5.0

Definition at line 49 of file ground_detect_sensor.c.

Function Documentation

ground_detect()

bool ground_detect

(

void

)

Definition at line 58 of file ground_detect_sensor.c.

References ground_detected.

ground_detect_sensor_init()

void ground_detect_sensor_init

(

void

)

Definition at line 53 of file ground_detect_sensor.c.

References ground_detected.

ground_detect_sensor_periodic()

void ground_detect_sensor_periodic

(

void

)

Definition at line 62 of file ground_detect_sensor.c.

References act_is_servo, actuator_state_filt_vect, agl_dist_valid, agl_dist_value_filtered, DefaultChannel, DefaultDevice, g1g2, GROUND_DETECT_SENSOR_COUNTER_TRIGGER, GROUND_DETECT_SENSOR_SPECIFIC_THRUST_THRESHOLD, ground_detected, stateGetAccelNed_f(), and NedCoor_f::z.

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Variable Documentation

ground_detected

bool ground_detected = false

Definition at line 41 of file ground_detect_sensor.c.

Referenced by ground_detect(), ground_detect_sensor_init(), and ground_detect_sensor_periodic().