agl_dist module

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_
  • 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
  • name TIMEOUT value: 1.
    Description: AGL dist valid timeout in seconds

Module functions

Init Functions

These initialization functions are called once on startup.

• agl_dist_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• agl_dist_timeout()
  • Frequency in Hz: 10
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.
• agl_dist_report()
  • Frequency in Hz: 2
  • Autorun: FALSE
    Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

• agl_dist.h

Source Files

• modules/sonar/agl_dist.c

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_">
      <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"/>
      <define name="TIMEOUT" value="1." description="AGL dist valid timeout in seconds"/>
    </section>
  </doc>
  <header>
    <file name="agl_dist.h"/>
  </header>
  <init fun="agl_dist_init()"/>
  <periodic fun="agl_dist_timeout()" freq="10"/>
  <periodic fun="agl_dist_report()" freq="2" autorun="FALSE"/>
  <makefile>
    <file name="agl_dist.c"/>
    <test>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>