Get sonar values from ABI and store last and filtered values
Output values are stored in global variables that can be used in flight plans
Example for airframe file
Add to your firmware section:
<module name="agl_dist"/>
Module configuration options
Airframe file section
- section name:
AGL
prefix: AGL_DIST_SONAR_
- name
ID
value: ABI_BROADCAST
Description: Sonar ABI ID
- name
MAX_RANGE
value: 5.
Description: Max detection range in meters
- name
MIN_RANGE
value: 0.001
Description: Min detection range in meters
- name
FILTER
value: 0.1
Description: Low pass filter time constant
Module functions
Init Functions
These initialization functions are called once on startup.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw agl_dist.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="agl_dist" dir="sonar">
<doc>
<description>
Get sonar values from ABI and store last and filtered values
Output values are stored in global variables that can be used in flight plans
</description>
<section name="AGL" prefix="AGL_DIST_SONAR_">
<define name="ID" value="ABI_BROADCAST" description="Sonar ABI ID"/>
<define name="MAX_RANGE" value="5." description="Max detection range in meters"/>
<define name="MIN_RANGE" value="0.001" description="Min detection range in meters"/>
<define name="FILTER" value="0.1" description="Low pass filter time constant"/>
</section>
</doc>
<header>
<file name="agl_dist.h"/>
</header>
<init fun="agl_dist_init()"/>
<makefile>
<file name="agl_dist.c"/>
<test/>
</makefile>
</module>