lidar_tfmini module

TFMini Lidar using a single UART for communication

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="lidar_tfmini">
  b'<configure name="TFMINI_PORT" value="UART3" />\n    '
  b'<configure name="TFMINI_BAUD" value="B115200" />\n    '
  b'<configure name="USE_TFMINI_AGL" value="0" />\n    '
  b'<configure name="TFMINI_COMPENSATE_ROTATION" value="1" />\n  '
</module>

Module configuration options

Configure Options

• name: TFMINI_PORT value: UART3
  Description: UART device to use for lidar
• name: TFMINI_BAUD value: B115200
  Description: baudrate of the TFMini UART port
• name: USE_TFMINI_AGL value: 0
  Description: use this lidar for AGL measurements
• name: TFMINI_COMPENSATE_ROTATION value: 1
  Description: compensate AGL measurements for body rotation

Module functions

Init Functions

These initialization functions are called once on startup.

• tfmini_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• tfmini_event()

Files

Header Files

The following headers are automatically included in modules.h

• tfmini.h

Source Files

• modules/lidar/tfmini.c

Raw lidar_tfmini.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="lidar_tfmini" dir="lidar">
  <doc>
    <description>
      TFMini Lidar using a single UART for communication
    </description>
    <configure name="TFMINI_PORT" value="UART3" description="UART device to use for lidar"/>
    <configure name="TFMINI_BAUD" value="B115200" description="baudrate of the TFMini UART port"/>
    <configure name="USE_TFMINI_AGL" value="0" description="use this lidar for AGL measurements"/>
    <configure name="TFMINI_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
  </doc>
 
  <settings>
    <dl_settings NAME="Lidar TFMini">
      <dl_settings NAME="Lidar">
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini.compensate_rotation" shortname="derotate_agl"/>
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini.update_agl" shortname="update_agl"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>uart</depends>
    <provides>sonar</provides>
  </dep>
 
  <header>
    <file name="tfmini.h"/>
  </header>
  <init fun="tfmini_init()"/>
  <event fun="tfmini_event()"/>
  <makefile>
    <!-- Configure default UART port and baudrate -->
    <configure name="TFMINI_PORT" default="UART3" case="upper|lower"/>
    <configure name="TFMINI_BAUD" default="B115200"/>
 
    <!-- Enable UART and set baudrate -->
    <define name="USE_$(TFMINI_PORT_UPPER)"/>
    <define name="$(TFMINI_PORT_UPPER)_BAUD" value="$(TFMINI_BAUD)"/>
    <define name="TFMINI_PORT" value="$(TFMINI_PORT_LOWER)"/>
 
    <configure name="USE_TFMINI_AGL" default="0"/>
    <configure name="TFMINI_COMPENSATE_ROTATION" default="0"/>
    <define name="USE_TFMINI_AGL" value="$(USE_TFMINI_AGL)"/>
    <define name="TFMINI_COMPENSATE_ROTATION" value="$(TFMINI_COMPENSATE_ROTATION)"/>
    <file name="tfmini.c"/>
  </makefile>
  <makefile target="nps">
    <define name="USE_SONAR" value="1"/><!-- in NPS use a virtual sonar to simulate lidar measurements -->
  </makefile>
</module>