Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
ground_detect module

Ground detection module to detect ground

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="ground_detect">
b'<define name="USE_GROUND_DETECT_INDI_THRUST" value="1" />\n '
b'<define name="GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD" value="-5.0" />\n\n '
b'<define name="USE_GROUND_DETECT_AGL_DIST" value="0" />\n '
b'<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.1" />\n\n '
b'<define name="GROUND_DETECT_COUNTER_TRIGGER" value="10" />\n '
</module>

Module configuration options

Define Options

  • name: USE_GROUND_DETECT_INDI_THRUST value: 1
    Description: Use INDI thrust less than 50 percent as detection
  • name: GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD value: -5.0
    Description: [m/s2] positive down
  • name: USE_GROUND_DETECT_AGL_DIST value: 0
    Description: Use agl_dist_filtered
  • name: GROUND_DETECT_AGL_MIN_VALUE value: 0.1
    Description: AGL value low enough to be used as ground detection [m]
  • name: GROUND_DETECT_COUNTER_TRIGGER value: 10
    Description: Number of times a trigger must be valid to accept ground detection.

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

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

  • ground_detect_periodic()
    • Frequency in Hz: 50
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.
  • ground_detect_filter_accel()
    • Running at maximum module frequency.
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw ground_detect.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ground_detect" dir="nav">
<doc>
<description>Ground detection module to detect ground</description>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="1" description="Use INDI thrust less than 50 percent as detection"/>
<define name="GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD" value="-5.0" description="[m/s2] positive down"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="0" description="Use agl_dist_filtered"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.1" description="AGL value low enough to be used as ground detection [m]"/>
<define name="GROUND_DETECT_COUNTER_TRIGGER" value="10" description="Number of times a trigger must be valid to accept ground detection."/>
</doc>
<header>
<file name="ground_detect.h"/>
</header>
<init fun="ground_detect_init()"/>
<periodic fun="ground_detect_periodic()" freq="50"/>
<periodic fun="ground_detect_filter_accel()"/>
<makefile>
<file name="ground_detect.c"/>
<test firmware="rotorcraft">
<define name="PERIODIC_FREQUENCY" value="512"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="1"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
<define name="INDI_OUTPUTS" value="1"/>
<define name="INDI_NUM_ACT" value="1"/>
</test>
</makefile>
</module>