Paparazzi UAS  v5.15_devel-61-g9c6bcf9
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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:

1 <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"/>
</makefile>
</module>